CN116038631B

CN116038631B - Automatic assembly equipment and automatic assembly method for hydraulic valve block assembly

Info

Publication number: CN116038631B
Application number: CN202211469448.9A
Authority: CN
Inventors: 王永红; 谭芝芝; 刘加华; 聂一彪; 周庆
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2025-09-12
Anticipated expiration: 2042-11-22
Also published as: CN116038631A

Abstract

The application discloses automatic assembly equipment and an automatic assembly method of a hydraulic valve block assembly, wherein the equipment comprises a valve block assembly platform, a material conveying module and a control system, wherein fixing positions and assembly positions are arranged at intervals, the material conveying module is used for conveying the hydraulic valve block assembly and assembly parts of the hydraulic valve block assembly, the material conveying module is used for conveying the hydraulic valve block assembly and the assembly parts of the hydraulic valve block assembly, the assembly tightening module is used for tightening the assembly parts on the valve block assembly platform to assemble the hydraulic valve block assembly, the control system is used for cooperatively controlling the valve block assembly platform, the material conveying module and the assembly tightening module to complete automatic assembly of the hydraulic valve block assembly, and the material conveying module, the material conveying module and the assembly tightening module are arranged around the valve block assembly platform at intervals to form a single-station centralized assembly unit. According to the automatic assembly equipment, manual intervention is not needed in the whole assembly process, automatic feeding is achieved, centralized assembly is achieved, and assembly efficiency is effectively improved.

Description

Automatic assembly equipment and automatic assembly method for hydraulic valve block assembly

Technical Field

The application belongs to the field of automatic assembly equipment, and particularly relates to automatic assembly equipment for a hydraulic valve block assembly.

Background

The hydraulic valve block assembly is used as the most critical component in engineering machinery products, the quality of the products is greatly affected, and the requirement of ensuring the assembly quality by improving the assembly manufacturability of the hydraulic valve block assembly is more and more urgent. At present, the hydraulic valve block assembly (or hydraulic valve group) in the industry is assembled manually, namely in a multi-variety and small-batch production mode, and is relatively backward, for example, the hydraulic valve block assembly is assembled manually in a work table mode or assembled in a pipeline mode. In the assembly process, a plurality of uncontrollable factors exist, and the problems of quality assurance and low production efficiency exist.

Therefore, in the assembly process of the parts of the traditional hydraulic valve bank, a series of complicated works such as part taking, hydraulic component assembly, joint tightening and the like are independently completed by a single person, the hydraulic valve bank belongs to station method operation, the assembly efficiency and quality of products are greatly influenced by human subjective factors, and the problems that materials are easy to miss-assemble and not be screwed in place due to the high operational randomness of staff in a manual assembly mode are caused, so that the normal operation of the whole system is influenced by the oil seepage phenomenon of the hydraulic valve bank.

Disclosure of Invention

The application aims to provide automatic assembly equipment and an automatic assembly method for a hydraulic valve block assembly, so as to solve the problems, ensure the consistency and reliability of product assembly and improve the product quality in a quick and good way.

In order to achieve the above object, according to a first aspect of the present application, there is provided an automated assembly apparatus of a hydraulic valve block assembly, comprising:

the valve group assembly platform is provided with fixed positions for fixing the valve body and assembly positions for assembling other assembly parts on the valve body at intervals;

the material conveying module is used for conveying the hydraulic valve block assembly and assembly parts thereof;

a material handling module for handling the hydraulic valve block assembly and the assembly component;

An assembly tightening module for tightening the assembly components on the valve block assembly platform to assemble the hydraulic valve block assembly, and

The control system is used for cooperatively controlling the valve group assembly platform, the material conveying module, the material carrying module and the assembly tightening module so as to complete automatic assembly of the hydraulic valve block assembly;

Wherein the material handling module, the material handling module and the assembly tightening module are arranged around the valve block assembly platform at intervals and form a single-station centralized assembly unit.

In an embodiment of the application, the valve block assembly platform comprises:

the fixed platform comprises a horizontal reference surface serving as the top surface of the fixed platform, wherein the horizontal reference surface is provided with assembly positions, fixed positions and tool storage positions which are sequentially arranged at intervals along the direction of the first platform;

The movable rotary table comprises a movable sliding plate and a rotary table, the movable sliding plate is arranged on the horizontal reference surface in a sliding manner along the first platform direction, the rotary table is arranged on the movable sliding plate, and the movable sliding plate can carry the rotary table to reciprocate between the assembling position and the fixing position;

The tool quick-change mechanism is arranged at the tool storage position and used for storing and switching various valve body positioning tools for correspondingly installing valve bodies of different specifications, and the valve body positioning tools can be clamped and fixed on the rotary table at the fixed position;

the valve body to be assembled can be clamped and fixed on the rotary table at the fixing position, and the rotary table can drive the valve body to rotate at the assembling position so as to switch and display the valve body assembling surface.

In an embodiment of the application, the material handling module comprises a first handling device, the control system comprises a valve body positioning tooling change control unit configured to:

driving the movable sliding plate to move to the fixed position along the first platform direction;

Removing the original valve body positioning tool on the rotary table at the fixed position and moving away through the first carrying device;

according to the specification of the valve body of the valve bank to be assembled, controlling the tooling quick-change mechanism to switch out the corresponding valve body positioning tooling;

And carrying the corresponding valve body positioning tool to the fixed position through the first carrying device and clamping and fixing the valve body positioning tool on the rotary table.

In an embodiment of the application, the material conveying module comprises a hydraulic valve block feeding and conveying device, the material conveying module comprises a first conveying device, the assembly tightening module comprises a first tightening system, and the first tightening system is arranged right below the fixed position of the horizontal reference surface and is used for tightly connecting the valve body positioning tool with the valve body;

And, control system includes valve body material loading control unit, is configured as:

Controlling the hydraulic valve block feeding and conveying device to convey the valve body;

controlling the movable rotary table to enable the rotary table to move to the fixed position, wherein the rotary table is provided with the valve body positioning tool corresponding to the specification of the valve body;

the first carrying device is controlled to grasp the valve body and carry the valve body to the valve body positioning tool of the rotary table;

And controlling the first tightening system to tightly connect the valve body positioning tool with the valve body.

In an embodiment of the present application, a visual recognition position is further provided on a horizontal reference plane of the fixed platform, and the automated assembly device further includes a first visual system provided at the visual recognition position;

wherein, valve body material loading control unit still is configured as:

controlling the movable turntable so that the turntable moves to the visual recognition position;

And controlling the rotary table to rotate, driving each valve body assembly surface of the valve body to rotate to the opposite surface of the first vision system, and controlling the first vision system to identify the installation point position information on each valve body assembly surface.

In an embodiment of the present application, the hydraulic valve block feeding and conveying device includes:

The feeding roller lines and the returning roller lines extend along a first conveying direction and are arranged side by side along a second roller direction, the conveying direction of the feeding roller lines is opposite to the conveying direction of the returning roller lines, and the first conveying direction is perpendicular to the second roller direction;

The first translation platform and the second translation platform are respectively arranged at two ends of the feeding roller line and the return roller line along the first conveying direction, the first translation platform is used for carrying out reciprocating translation conveying between the conveying head end of the feeding roller line and the conveying tail end of the return roller line, the second translation platform is used for carrying out reciprocating translation conveying between the conveying tail end of the feeding roller line and the conveying head end of the return roller line, and the first translation platform is used for carrying out reciprocating translation conveying between the conveying tail end of the feeding roller line and the conveying head end of the return roller line

And the feeding tray is used for loading the valve body and the hydraulic components and can sequentially move along the feeding roller line, the second translation platform, the return roller line and the first translation platform in a closed loop manner.

In the embodiment of the application, the valve body positioning tool comprises a tool body, wherein the top surface of the tool body is provided with a limiting part for positioning the bottom surface of the valve body, and the side surface of the tool body is provided with a locking groove;

And, the material loading tray includes:

a feeding matrix which is flat and

And the feeding positioning plate is positioned and installed on the top surface of the feeding substrate, and is provided with a feeding imitation groove for positioning the valve body and the hydraulic components.

In an embodiment of the application, the material conveying module comprises a hydraulic valve block blanking conveying device and a cantilever lifting device, and the control system comprises a hydraulic valve block assembly blanking control unit configured to:

After the valve body is assembled to form a hydraulic valve block assembly, controlling the movable rotary table to move to the fixed position;

Controlling the first tightening system to disconnect the valve body positioning tool from the hydraulic valve block assembly;

The first carrying device is controlled to grasp the hydraulic valve block assembly and carry the hydraulic valve block assembly to the hydraulic valve block blanking conveying device;

and controlling the cantilever hoisting equipment to hoist the hydraulic valve block assembly to be offline.

In an embodiment of the application, the hydraulic valve block blanking conveying device includes:

A blanking tray;

the upper layer roller way line and the lower layer roller way line are arranged at intervals up and down and are used for conveying the blanking tray, one side of the conveying head end of the upper layer roller way line is provided with a second feeding position, and one side of the conveying tail end of the upper layer roller way line is provided with a second blanking position;

A head-end jacking and translational platform arranged at the feeding position and capable of lifting to transfer the discharging tray from the conveying tail end of the lower layer roller line to the conveying head end of the upper layer roller line, and

The tail end jacking translation platform is arranged at the discharging position and can be lifted and moved to convey the discharging tray from the conveying tail end of the upper layer roller way line to the conveying head end of the lower layer roller way line.

In an embodiment of the application, the hydraulic valve block blanking conveying device and the hydraulic valve block feeding conveying device are arranged in parallel and are adjacent to the feeding roller line.

In an embodiment of the application, the material conveying module comprises a screw plug feeding conveying device, the assembly tightening module comprises a robot tightening system with a magnetic suction structure, and the control system comprises a screw plug assembly control unit configured to:

Driving the plug feeding conveying device to control plug feeding;

And controlling the robot tightening system to absorb the plug, moving to a plug installation position of the valve body, and installing and tightening.

In an embodiment of the application, the plug feeding and conveying device comprises a plurality of plug conveying units suitable for conveying plugs of different specifications, wherein each plug conveying unit comprises a material box, a vibration material tray and a discharge groove which are sequentially arranged along the plug conveying direction, the plugs are conveyed to the vibration material tray from the material box pipeline, and a discharge fence for enabling the plugs to move to the discharge groove in a specified direction is arranged between the vibration material tray and the discharge groove.

In an embodiment of the application, the automated assembly device comprises a first sleeve quick change device for changing a sleeve on a tightening shaft of the robotic tightening system;

Wherein the plug assembly control unit is further configured to:

before the plug is sucked, according to the fed plug specification, the first sleeve quick-change device is controlled to push out the sleeve matched with the plug specification;

Controlling the robot tightening system to suck and replace the sleeve on the first sleeve quick-change device.

In an embodiment of the application, the material handling module comprises a joint handling device, the material handling module comprises a second handling device, the assembly tightening module comprises a second tightening system, and the control system comprises a joint assembly control unit configured to:

Driving the joint conveying device to control the feeding of the joint;

controlling the second handling device to mount the pipe joint to the second tightening system;

And controlling the second tightening system to move to the pipe joint installation position of the valve body and tightening the pipe joint installation.

In an embodiment of the application, the automated fitting equipment comprises an injection system and a second vision system, the pipe joint fitting control unit further configured to:

controlling the second carrying device to move the pipe joint subjected to feeding to the glue injection system;

the glue injection system is controlled to glue the pipe joint;

controlling the second carrying device to move the pipe joint subjected to the gluing to the second vision system;

and controlling the second vision system to evaluate the gluing state and the sealing state of the pipe joint, controlling the second carrying device to install the glued pipe joint on the second tightening system when the second vision system is qualified, and controlling the second carrying device to return to the glue injection system and re-glue when the second vision system is unqualified.

In an embodiment of the application, the automated fitting equipment further comprises a second sleeve quick change device for changing a sleeve on a tightening shaft of the second tightening system, and the pipe joint fitting control unit is further configured to:

Before the pipe joint is moved to the glue injection system, according to the specification of the pipe joint, the second sleeve quick-changing device is controlled to push out the sleeve matched with the specification of the pipe joint;

and controlling the second tightening system to replace the sleeve on the second sleeve quick-change device.

In an embodiment of the present application, the first sleeve quick-change device and the second sleeve quick-change device have the same structure and each include:

The quick-change bracket comprises a first placing bracket and a second placing bracket which are arranged at intervals, wherein the first placing bracket can be far away from or close to the second placing bracket, a plurality of component placement holes penetrating through the first placing bracket and the second placing bracket are formed in the quick-change bracket, and

The tightening components are correspondingly placed in the component placement holes one by one, each tightening component comprises a quick-change head clamped between the first placement bracket and the second placement bracket and a tightening member clamped on the second placement bracket, and each quick-change head comprises a torque connection end provided with a torque connection hole and a transmission connection end in transmission connection with the tightening member;

The quick-change head comprises a first placing support, a second placing support, a torque connecting hole, a connecting locking piece and a connecting locking piece, wherein the connecting locking piece is arranged on the peripheral wall of the quick-change head, the first placing support is far away from the second placing support, the connecting locking piece extends into the torque connecting hole to be connected with the torque connecting hole in a locking mode, the first placing support is near to the second placing support, and the connecting locking piece is separated from the torque connecting hole to be connected with the torque connecting hole in an opening mode.

In an embodiment of the present application, the transmission connection end of the quick-change head coaxially extends out of a connection shaft, and the tightening assembly further includes:

the gear shaft assembly comprises a driving shaft provided with a driving gear and a driven shaft provided with a driven gear;

One end of the connecting sleeve is sleeved with the connecting shaft, and the other end of the connecting sleeve is coaxially sleeved with the driving shaft;

wherein the driving shaft and the driven shaft are arranged side by side along the radial direction, and the tightening member is arranged at the outer end part of the driven shaft.

In an embodiment of the present application, the joint transportation device includes:

the lower layer line body and the upper layer line body are arranged at intervals up and down and are all arranged along the joint conveying direction, and in the joint conveying direction, the conveying head end of the lower layer line body is opposite to the conveying head end of the upper layer line body, and the conveying tail end of the lower layer line body is opposite to the conveying tail end of the upper layer line body, and the conveying head end of the lower layer line body is respectively and outwards prolonged by a set distance to be respectively in a step shape.

In an embodiment of the present application, the control system includes a hydraulic component feeding control unit configured to:

controlling the hydraulic valve block feeding and conveying device to convey the hydraulic components;

controlling the first carrying device to grasp the hydraulic components and carry the hydraulic components to the first vision system;

Controlling the first vision system to record and judge the state of a sealing ring of the hydraulic component;

when the sealing ring is qualified, controlling the first carrying device to grasp the hydraulic component and move to a hydraulic component mounting position of the valve body;

And controlling the robot tightening system to install and tighten the hydraulic components.

In the embodiment of the application, the material conveying module comprises a hydraulic valve block feeding conveying device, a hydraulic valve block discharging conveying device, a cantilever hoisting device, a plug feeding conveying device and a joint conveying device, and comprises a first conveying device and a second conveying device, wherein the assembly tightening module comprises a first tightening system, a second tightening system and a robot tightening system;

The first conveying device, the hydraulic valve block feeding and conveying device, the hydraulic valve block discharging and conveying device and the cantilever lifting device are arranged on the outer side of the tool storage position of the valve block assembly platform, the plug feeding and conveying device and the connector conveying device are arranged on two sides of the assembly position of the valve block assembly platform respectively, the second tightening system is arranged on the outer side of the fixed position of the valve block assembly platform, the first tightening system is arranged under the fixed position of the horizontal reference surface, the second conveying device is arranged between the connector conveying device and the second tightening system, and the robot tightening system is arranged between the plug feeding and conveying device and the assembly position of the valve block assembly platform.

According to a second aspect of the present application, there is provided an automated assembly method of a hydraulic valve block assembly, employing the automated assembly apparatus of a hydraulic valve block assembly described above to assemble the hydraulic valve block assembly, and during assembly, sequentially assembling according to the type of the assembly components.

In an embodiment of the application, the automated assembly method comprises:

firstly, fixing a valve body on an assembly position of the valve group assembly platform;

then a plurality of plugs are respectively screwed and installed on the assembly surfaces of the valve bodies;

then a plurality of pipe joints are respectively screwed and installed on the assembly surfaces of the valve body;

and finally, screwing the hydraulic components on the corresponding valve body assembly surface of the valve body.

In an embodiment of the present application, the step of fixing the valve body to the assembly fixture of the valve assembly platform further includes:

firstly, fixing a standard valve body on a fixing position of the valve assembly platform, and obtaining and storing the coordinate positions of all hole sites on all valve body assembly surfaces of the standard valve body in a visual photographing mode by using a first visual system;

Then the valve body to be assembled is fixed on the fixed position of the valve assembly platform, and the first vision system is utilized to obtain the actual coordinate positions of all hole sites on all valve body assembly surfaces of the valve body to be assembled in a visual photographing mode;

And comparing the coordinate positions of all the hole sites of the standard valve body with the actual coordinate positions of all the hole sites of the valve body to be assembled by taking the coordinate positions of all the hole sites of the standard valve body as reference dimensions, thereby obtaining the deviation of all the hole sites on the valve body to be assembled.

In an embodiment of the application, the step of finally screwing the hydraulic components onto the respective valve body mounting faces of the valve body further comprises:

Moving a standard hydraulic component by using a first carrying device, enabling a photographed surface of the standard hydraulic component to be parallel to a photographing surface of a first vision system, and obtaining and storing the coordinate positions of all hole sites on all mounting surfaces of the standard hydraulic component in a visual photographing mode by using the first vision system;

Then, the hydraulic components to be assembled are moved to the state that the photographed surface is parallel to the photographing surface of the first vision system, and the first vision system is utilized to obtain actual coordinate positions of all hole sites on all mounting surfaces of the hydraulic components to be assembled in a visual photographing mode;

And comparing the coordinate positions of all the hole sites of the standard hydraulic components with the actual coordinate positions of all the hole sites of the hydraulic components to be assembled by taking the coordinate positions of all the hole sites of the standard hydraulic components as reference dimensions, thereby obtaining the deviation of all the hole sites on the hydraulic components to be assembled.

In the automatic assembly equipment of the hydraulic valve block assembly, a single-station centralized assembly unit is formed around the valve block assembly platform, a material conveying module, a material carrying module, an assembly tightening module and the like are arranged around the valve block assembly platform, so that the system has compact structural layout and is not easy to interfere, especially, the automatic assembly of the hydraulic valve block assembly can be efficiently and highly-quality completed by combining the cooperative control of the control system on each functional module, the manual intervention is not needed in the whole assembly process, the assembly processes of automatic valve body clamping, process vision mistake proofing, part robot assembly, automatic thread gluing, automatic tightening and the like can be further realized, the assembly quality is improved, zero defects and consistency are ensured, and the assembly efficiency is effectively improved through automatic feeding and centralized assembly.

Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:

FIG. 1 is a perspective view of a hydraulic valve block assembly;

FIG. 2 is a perspective view of a valve body constituting a hydraulic valve block assembly;

FIG. 3 is a perspective view of the hydraulic components that make up the hydraulic valve block assembly;

FIG. 4 is a perspective view of a pipe joint constituting a hydraulic valve block assembly;

FIG. 5 is a perspective view of a plug constituting a hydraulic valve block assembly;

FIG. 6 is a schematic plan view of an automated assembly apparatus for a hydraulic valve block assembly according to an embodiment of the present application;

FIG. 7 is a perspective view of a valve manifold assembly platform according to an embodiment of the present application;

FIG. 8 is a schematic top view of a valve manifold assembly platform according to an embodiment of the present application;

FIG. 9 is a perspective view of a tooling quick change mechanism according to an embodiment of the present application;

FIG. 10 is a perspective view of a turret according to an embodiment of the application;

FIG. 11 is a schematic top view of a turret according to an embodiment of the application;

FIG. 12 is a schematic top view of a valve body positioning tooling according to an embodiment of the present application;

FIG. 13 is a schematic cross-sectional view of a valve body positioning tool according to an embodiment of the present application;

Fig. 14 is a schematic structural view of a first tightening system according to an embodiment of the present application;

FIG. 15 is a perspective view of a hydraulic valve block feed conveyor according to an embodiment of the application;

FIG. 16 is a schematic cross-sectional view of a first mobile platform according to an embodiment of the present application;

fig. 17 is a perspective view of a loading tray according to an embodiment of the present application;

FIG. 18 is a perspective view of a hydraulic valve block blanking conveyor apparatus according to an embodiment of the present application;

FIG. 19 is a perspective view of a plug loading conveyor according to an embodiment of the present application;

FIG. 20 is an enlarged partial view of the encircled portion of FIG. 19;

FIG. 21 is a schematic view of the structure of the discharge pen in the screw plug loading conveyor;

FIG. 22 is a perspective view of a splice delivery device according to an embodiment of the present application;

FIG. 23 is a schematic top view of an end block according to an embodiment of the application;

FIG. 24 is a cross-sectional view of a tightening assembly according to an embodiment of the present application;

FIG. 25 is a cross-sectional view of another tightening assembly according to an embodiment of the present application;

FIG. 26 is a perspective view of the tightening assembly shown in FIG. 25;

FIG. 27 is a perspective view of a second tightening system according to an embodiment of the present application;

FIG. 28 is a perspective view of a first sleeve quick change device according to an embodiment of the present application;

FIG. 29 is a schematic view in half section of the first sleeve quick change device of FIG. 28;

FIG. 30 is a perspective view of a robotic tightening system according to an embodiment of the application;

Fig. 31 is a perspective view of a tightening device in the robot tightening system shown in fig. 30;

fig. 32 is a perspective view of a first handling device according to an embodiment of the application;

fig. 33 is a perspective view of a second handling device according to an embodiment of the application;

FIG. 34 is a flow chart of a process control for automatic loading and unloading of hydraulic valve blocks in accordance with an embodiment of the present application;

FIG. 35 is a process control schematic of a plug fitting control unit according to an embodiment of the application;

FIG. 36 is a process control schematic of a pipe joint assembly control unit according to an embodiment of the present application;

FIG. 37 is a process control schematic of a hydraulic component mounting control unit according to an embodiment of the application, and

Fig. 38 is an overall control flow diagram of a control system according to an embodiment of the application.

Description of the reference numerals

1. Valve group assembly platform 2 hydraulic valve block feeding and conveying device

3. Plug feeding and conveying device of joint conveying device 4

5. First sleeve quick-changing device of hydraulic valve block blanking conveying device 6

7. First tightening system of second sleeve quick-change device 8

9. Second tightening System 10 robot tightening System

11. First conveying device 12 second conveying device

13. First vision system 14 second vision system

15. 16 Cantilever lifting equipment of glue injection system

17. Control system

21. Return roller line 22 feeding roller line

23. First translation stage 24 second translation stage

25. First loading level of loading tray 26

27. First discharging level 28 second rectangular frame

29. Moving wheel 40 screw plug conveying unit

31. Upper layer wire body 32 lower layer wire body

33. Limiting rod for belt conveying line 34

35. End stop of first drive 36

37. First inductive switch 38 bottom chassis

41. Vibrating tray for magazine 42

43. Inclined pipeline of discharge chute 44

45. Limit groove of discharging fence 46

47. Controller 51 blanking tray

52. Upper roller line 53 lower roller line

54. Head end jacking translation platform 55 tail end jacking translation platform

56. Second upper level 57 second lower level

58. Rectangular underframe of second driving device 59

61. Quick-change bracket

81. Guide shaft of tightening mechanism 82

83. Movable plate 84 fixing plate

85. Lifting driving mechanism

90. Tightening component 91 tightening member

92. Quick-change head 93 sliding sleeve

94. Gear shaft assembly 95 connecting sleeve

96. First mounting plate 97 second mounting plate

98. Anti-rotation rod for connecting fastener 99

100. Hydraulic component of valve body 200

300. Pipe joint 400 plug

500. Bolt 600 hydraulic valve block assembly

700. Valve body positioning tool 101 fixing platform

102. Rotary table of movable slide plate 103

104. Quick-change mechanism for tooling of first rectangular rack 105

131. Industrial camera

211. Loading limiting wall of loading conveying roller 212

231. Linear slide rail mechanism 232 moving platform

233. Movable pin shaft of first photoelectric sensor 234

235. Positioning hole 251 feeding matrix

252. Feeding profiling groove of feeding positioning plate 253

254. Feeding positioning pin shaft of feeding oil collecting groove 255

351. Transmission shaft 352 driving motor

353. Belt pulley

431. Linear slot of rectangular bar 432

451. Peripheral frame of stop lever 452

453. Upper bar 454 lower bar

455. Side stop lever 461 screw plug inductive switch

511. Blanking locating plate for blanking matrix 512

513. Blanking positioning pin shaft of blanking imitation groove 514

515. Discharging limiting wall of discharging oil collecting tank 521

522. Tray carrying platform for blanking conveying roller 541

542. Lifting guide device of vertical lifting mechanism 543

544. Second photoelectric sensor 611 first placing bracket

612. Second placing bracket 613 assembly placing hole

614. First mounting hole 615 second mounting hole

616. First baffle plate for pushing spigot portion 617

618. Limiting clamping groove of second baffle 619

620. Support driving mechanism 621 suspension support plate

622. Third baffle 623 detection sensor

701. Spacing portion 702 locking screw

703. Locking groove of positioning pin hole 704

901. First mounting platform of first electric tightening shaft 902

903. First drive motor of first guide rail slide block mechanism 904

905. Second drive motor 906 rack

911. Tightening end 912 threading end

913. Center attachment hole 914 screw-down hole

921. Torque connection end of torque connection hole 922

923. Steel ball of transmission connection end 924

925. Centering shaft of steel ball accommodating hole 926

927. Connecting shaft

931. Circumferential limit groove 932 spigot groove

933. Compression spring 934 stop snap spring

941. Driving shaft 942 driven shaft

1001. Connecting plate 1002 tightening shaft

1003. Horizontal telescopic cylinder 1004 guide rail

1005. Sliding plate 1006 magnetic sleeve

1021. Sliding block

1022. Horizontal driving motor 1023 screw rod

1024. Screw nut 1031 rotating disc

1032. Rotation driving motor 1033 rotates screw

1034. Tool locking mechanism 1041 sliding rail

1051. Tool transition seat 1052 proximity switch

Detailed Description

The following describes specific embodiments of the present application in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the application, are not intended to limit the application.

An automated assembly apparatus and an automated assembly method of a hydraulic valve block assembly according to the present application are described below with reference to the accompanying drawings.

For the assembly of hydraulic valve block assemblies (or "hydraulic valve blocks"), manual assembly processes are mostly adopted, but generally have quality problems and process problems. In terms of quality problems, the assembly quality is ensured by visual inspection, the detection force is low by subjective judgment, the phenomenon of sealing ring neglected loading, screw blocking and joint misloading is easy to occur, the tightening precision is low by adopting a pneumatic tool, risks of neglected tightening and overtightening are easy to occur, the tightening quality is uncontrollable, the efficiency is affected by secondary scribing, and process data cannot be effectively managed, so that traceable sources cannot be provided for subsequent quality problems. In terms of technical problems, a working table and single-station manual working mode is adopted, the assembly beat is not balanced, the production efficiency is low, a heavy mode of manually carrying a valve body on line and multiple times of overturning are adopted in the assembly process, the labor intensity of staff is high, the use noise of an impact tool is high, the hearing of an operator is easily damaged, the threads are manually glued, the glue amount cannot ensure that a frequently-coated overflow mounting surface is required, and unnecessary waste is caused by secondary cleaning.

In view of the above, the application designs novel automatic assembly equipment for hydraulic valve block assemblies, which aims at the problems that the existing hydraulic valve block adopts a manual assembly process method, has low assembly efficiency and low quality, cannot collect effective assembly parameters, and the like, so as to optimize the assembly process of the hydraulic valve block assembly by combining an automatic manufacturing technology, and realize the automatic assembly process of the hydraulic valve block assembly by adopting means of automatic feeding, automatic tightening, visual monitoring, and the like.

To this end, referring to fig. 6, in one embodiment, the automated assembly apparatus of the hydraulic valve block assembly of the present application comprises:

A valve group assembly platform 1;

The material handling module is used for handling the hydraulic valve block assembly and the assembly parts;

an assembly tightening module for tightening assembly parts on the valve block assembly platform 1 to assemble a hydraulic valve block assembly, and

The control system 17 is used for cooperatively controlling the valve group assembly platform 1, the material conveying module, the material carrying module and the assembly screwing module so as to complete the automatic assembly of the hydraulic valve block assembly;

Wherein the material conveying module, the material handling module and the assembly tightening module are arranged around the valve group assembly platform 1 at intervals and form a single-station centralized assembly unit.

The application aims to complete the automatic assembly of the hydraulic valve block assembly, ensure the consistency and reliability of the assembly of products and improve the quality of the products in a quick and good way. Therefore, the whole process flow adopts the principle of centralized assembly, simulates a manual assembly mode, and realizes independent assembly of all parts on the same workstation through cooperative operation (grabbing, moving, assembling, screwing and the like) of a robot and a servo system. Therefore, the automatic assembly equipment forms a single-station centralized assembly unit, and is integrated by combining a plurality of robots, a plurality of screwing systems, a plurality of conveying lines, a servo system, sensors, a plurality of visual systems and the like, and the assembly of all parts is realized at the same position through the rotation and the direction change of the valve assembly platform 1.

Specifically, the automatic assembly equipment mainly comprises seven modules including a valve assembly platform 1, a material conveying module, a material carrying module, an assembly tightening module, a control system 17, a glue injection system, a vision module and the like which are described later, so that a single-station centralized assembly unit is formed, the structural layout is compact, the structure layout is not interfered with each other, and the automatic assembly process can be completed with high quality and high precision.

Referring to fig. 6, a valve assembly platform 1 as a workbench is an assembly fixing device of a hydraulic valve assembly and is located at the center of an automatic assembly device of a hydraulic valve block assembly, and a valve body 100 can be grasped and carried by a carrying device and placed on the workbench.

In the illustrated embodiment, the material conveying module is composed of a cantilever lifting device 16, a hydraulic valve block feeding and conveying device 2, a hydraulic valve block discharging and conveying device 5, a joint conveying device 3, a plug feeding and conveying device 4 and the like, and is used for conveying materials such as various hydraulic components 200, pipe joints 300, plugs 400, bolts 500 and the like on the hydraulic valve block to the inner side of the device, and simultaneously grabbing and transferring the assembled hydraulic valve block to the hydraulic valve block discharging and conveying device 5, wherein the hydraulic valve block feeding and conveying device 2 and the hydraulic valve block discharging and conveying device 5 are arranged at the right lower corner of a workbench side by side, the cantilever lifting device 16 is arranged right above the hydraulic valve block feeding and conveying device 2 and the hydraulic valve block discharging and conveying device 5, the joint conveying device 3 is arranged at the left lower corner of the workbench, and the plug feeding and conveying device 4 is arranged at the left upper corner of the workbench.

The material handling module is composed of a first handling device 11 and a second handling device 12, and is used for grabbing and installing various materials on the hydraulic valve group from the material handling module to the valve body 100, wherein the first handling device 11 is installed between the joint conveying device 3 and the hydraulic valve block blanking conveying device 5 and is used for grabbing and handling hydraulic components and valve bodies, and the second handling device 12 is fixed on the left side of the workbench and is located on the upper side of the joint conveying device 3 and is used for grabbing and handling the pipe joint 300.

The assembly tightening module consists of a robot tightening system 10, a first tightening system 8, a second tightening system 9, a first sleeve quick-change device 6 and a second sleeve quick-change device 7 which are driven by a servo, and is used for fixing and tightening bolts, pipe joints and plugs on a hydraulic valve group, wherein the robot tightening system 10 and the second tightening system 9 are arranged on the upper side of a workbench in parallel, the first tightening system 8 is arranged below the workbench, the first sleeve quick-change device 6 is positioned on the left side of the robot tightening system 10, when the plugs 400 and the bolts 500 with different specifications are required to be arranged, the robot tightening system 10 performs sleeve quick-change on the first sleeve quick-change device 6, the second sleeve quick-change device 7 is arranged on the left side of the workbench, and is positioned at the front end of the second tightening system 9, and when the pipe joints with different specifications are required to be arranged, the second tightening system 9 performs sleeve quick-change on the second sleeve quick-change device 7.

Referring to fig. 6, specifically, a first handling device 11, a hydraulic valve block feeding and conveying device 2, a hydraulic valve block discharging and conveying device 5 and a cantilever lifting device 16 are arranged on the outer side of a tool storage position of the valve block assembling platform 1, a plug feeding and conveying device 4 and a joint conveying device 3 are respectively arranged on two sides of an assembling position of the valve block assembling platform 1, a second tightening system 9 is arranged on the outer side of a fixing position of the valve block assembling platform 1, a first tightening system 8 is arranged under the fixing position of a horizontal reference surface, a second handling device 12 is arranged between the joint conveying device 3 and the second tightening system 9, and a robot tightening system 10 is arranged between the plug feeding and conveying device 4 and the assembling position of the valve block assembling platform 1.

In fig. 6, the control system 17 is located at the upper right corner of the automated assembly device of the hydraulic valve block assembly, and can use a PLC as a master station and communicate with a touch screen, so as to control the parallel whole automated assembly of input and output between the communication module and the workbench, the material conveying module, the material handling module and the assembly tightening module, and simultaneously realize manual debugging and key data monitoring on all modules by using the touch screen.

Of course, the basic constituent modules of the automatic assembly equipment, namely the material conveying module, the material handling module and the assembly tightening module, are described above only with reference to the accompanying drawings, and the constituent examples of the functional modules are described with reference to the embodiments so as to facilitate a quicker and clearer understanding of the application. It will be apparent to those skilled in the art that the respective configurations of the material handling module, the material transport module, and the assembly tightening module are not limited to the exemplary ranges in the above-described embodiments.

Further, in fig. 6, the automatic assembling apparatus further includes functional modules such as an injection system 15, a vision module, and the like. The glue injection system is fixed on the lower side of the workbench, so that the second carrying device 12 can pick up the pipe joint 300 and then perform glue injection, the glue injection mechanism can adopt an air pressure-feeding type liquid glue injection valve, can be purchased directly in the market, can set micro-injection time according to requirements so as to adjust glue injection amount, the vision module consists of a second vision system 14 and a first vision system 13, the second vision system 14 is arranged on the lower side of the workbench and is used for checking the state of a sealing ring on the pipe joint and performing glue injection or not, and the first vision system 13 is arranged on the upper side of the workbench and is used for performing position identification and alignment on a threaded hole position on the valve body 100.

The basic construction of the automated assembly apparatus for a hydraulic valve block assembly of the present application has been briefly described above in connection with specific embodiments, and the specific construction of each functional module will be explained in detail below in connection with the specific embodiments and the accompanying drawings.

Before, the basic construction of the hydraulic valve block assembly (i.e., the hydraulic valve block) is explained in connection with fig. 1 to 5. Referring to fig. 1, the hydraulic valve block assembly is composed of five general types of parts in total, namely a valve body 100, and as assembly components, a hydraulic component 200, a pipe joint 300, a plug 400, a bolt 500, etc., the hydraulic component 200 is fixed on the valve body 100 by the bolt 500, and the pipe joint 300, the plug 400, etc., are respectively mounted on the periphery and upper mounting surface of the valve body 100.

Introduction of the main functional modules:

(1) Valve group assembly platform:

In the embodiment of fig. 7-13, the valve block assembly platform includes:

the fixed platform 101 comprises a horizontal reference surface serving as the top surface of the fixed platform 101, wherein the horizontal reference surface is provided with assembly positions and fixing positions which are arranged at intervals along the first platform direction;

a moving turntable 103 including a moving slide plate 102 slidably provided on a horizontal reference surface in a first platform direction and a turntable 103 mounted on the moving slide plate 102, the moving slide plate 102 being capable of carrying the turntable 103 to and fro between an assembly position and a fixing position;

the valve body 100 to be assembled can be clamped and fixed on the rotary table 103 at a fixed position, and the rotary table 103 can drive the valve body 100 to rotate at an assembling position so as to switch and display the valve body assembling surface.

In addition, the valve group assembly platform 1 further includes a first rectangular frame 104, and the first platform direction is the length direction of the first rectangular frame 104. The first rectangular frame 104 comprises a support frame and a support plate, wherein the support frame is formed by welding square steel, and is subjected to stress relief annealing treatment after welding, the support plate is fixed on the support frame, and the upper surface of the support plate is subjected to milling processing to ensure the flatness of the support plate, so that the levelness of the support plate is ensured. In order to further reduce the levelness influence of vibration of the equipment operation process or the surrounding environment on the supporting plate, the supporting frame adopts heavy-load shockproof supporting legs, and the vertical maximum load of a single piece is ensured to be maximized. The bottom of the first rectangular rack 104 of the support plate is provided with a movable wheel, and the position of the valve group assembly platform is adjusted through the movable wheel, so that the position of the valve group assembly platform is matched with the previous working procedure, the time required for the working procedure connection is shortened, and the production efficiency is further improved.

The fixed platform 101 is mounted on a first rectangular frame 104, and the mounting bits and the fixing bits are respectively provided at both ends of a horizontal reference plane as the top surface of the fixed platform 101 in the first platform direction. The horizontal reference surface is provided with a sliding rail 1041 extending along the first platform direction, and the bottom of the moving slide plate 102 is provided with a sliding block 1021 in sliding fit with the sliding rail 1041, so that the moving slide plate 102 can slide along the first platform direction. The turntable 103 is fixedly arranged on the moving slide plate 102, and the turntable 103 is moved along the first platform direction by the moving slide plate 102. The whole rotary table 103 is higher than the top surface of the fixed platform 101 by a certain distance and can rotate, so that the valve body assembly surface can be switched and displayed.

Further, as shown in fig. 7 and 8, one end of the fixed position of the fixed platform 101 extends outwards, and a tool storage position is further provided on the part extending outwards from the horizontal reference surface, and the assembly position, the fixed position and the tool storage position are sequentially arranged at intervals along the direction of the first platform, so that the whole assembly process of the hydraulic valve block assembly 600 is completed on the fixed platform 101. The tool storage position is provided with a tool quick-change mechanism 105, the tool quick-change mechanism 105 is used for storing and switching various valve body positioning tools 700 corresponding to the valve bodies 100 with different specifications, and the valve body positioning tools 700 can be clamped and fixed on the rotary table 103 at the fixed position.

Referring to fig. 9, the tooling quick-change mechanism 105 includes a bottom plate mounted at a tooling storage position on the fixed platform 101, and tooling transition seats 1051 and tooling storage parts are respectively provided at two ends of the bottom plate along the second direction. The tool transition seat 1051 is used for temporarily storing the replaced valve body positioning tools 700, the tool storage part comprises a plurality of tool placement areas which are arranged in a arrayed mode, and each tool placement area is provided with a valve body positioning tool 700 with corresponding specification and a corresponding proximity switch 1052. The function of the proximity switch 1052 is that when the proximity switch 1052 of the tool placement area is closed, the valve body positioning tool 700 corresponding to the specification of the tool placement area can be removed and moved to the turntable 103 for assembly, so that the influence on the assembly efficiency caused by the removal of the valve body positioning tool 700 not corresponding to the tool placement area is avoided.

Further, the control system 17 includes a controller, and the controller is configured to receive the identification electric signal transmitted by the hydraulic valve block feeding and conveying device 2 connected to the valve block assembly platform 1, so as to control the tooling quick-change mechanism 105 to work, and the specific working process is as follows:

Firstly, a valve body positioning tool 700 is installed, namely, a valve body 100 to be assembled is conveyed to a valve group assembly platform 1 through a hydraulic valve block feeding conveying device 2, firstly, a controller receives an identification electric signal to automatically close a proximity switch 1052 of a corresponding tool placement area according to the type of the valve body 100, then the first carrying device 11 is controlled to grasp the valve body positioning tool 700 with the required specification to be fixedly installed on a rotary table 103, and finally the first carrying device 11 is controlled to grasp the valve body 100 to be assembled to be fixedly installed on the valve body positioning tool 700;

Secondly, the valve body positioning tool 700 switching process is that firstly, the controller receives a new identification electric signal, controls the first carrying device 11 to take down the original valve body positioning tool 700 on the rotary table 103 and place the tool on the tool transition seat 1051, simultaneously automatically closes the proximity switch 1052 of the corresponding tool placement area according to the new valve body 100 type, then controls the first carrying device 11 to grasp the valve body positioning tool 700 with the required specification to be fixedly arranged on the rotary table 103, and finally controls the first carrying device 11 to put the valve body positioning tool 700 on the tool transition seat 1051 back to the corresponding tool placement area and automatically open the corresponding proximity switch 1052.

Referring to fig. 10 and 11, the turntable 103 includes a rotating disk 1031 parallel to a horizontal reference plane, and after the valve body positioning tool 700 is placed on the rotating disk 1031 by using the tool quick-change mechanism 105, the valve body positioning tool 700 needs to be positioned and fixed, so that a positioning pin and a tool locking mechanism 1034 are provided on the rotating disk 1031. The positioning pin shaft is used for positioning the valve body positioning tool 700, and the tool locking mechanism 1034 is used for locking and fixing the valve body positioning tool 700.

The rotating disk 1031 needs to reciprocate between the assembling position and the fixing position in the whole assembling process, and in order to meet the production requirement and save manpower, the horizontal driving motor 1022 is arranged on the fixing platform 101 to avoid repeated labor. A transmission shaft of the horizontal driving motor 1022 is connected with a screw rod 1023, and a screw rod nut 1024 meshed with the screw rod 1023 is arranged at the bottom of the moving slide plate 102 to drive the moving slide plate 102 to move along the direction of the first platform.

In addition, the rotating disc 1031 needs to rotate for many times by taking the central axis as the rotating shaft in the whole assembly process, in order to meet the production requirement and save manpower and avoid repeated labor, a rotary driving motor 1032 is arranged on the fixed platform 101 and is used for driving the rotating disc 1031 to rotate, and the rotating axis is perpendicular to the horizontal reference plane. For cooperation with the rotary drive motor 1032, gear teeth are provided on the peripheral wall of the rotary disk 1031. The transmission shaft of the rotary driving motor 1032 is connected with a rotary screw 1033, the screw is meshed with the gear teeth, and when the rotary driving motor 1032 drives the screw to rotate, the rotary disk 1031 is driven to rotate by taking the central axis as the rotation axis. In order to make the rotary disk 1031 exhibit different valve body mounting surfaces per rotation, a servo motor is selected as the rotary drive motor 1032, and the rotation angle is set to 90 ° per rotation.

During the rotation of the rotating disc 1031 and the movement of the moving slide 102, the valve body positioning tool 700 is provided with various structures for fixing the valve body 100 to prevent the valve body from falling off. The valve body positioning tool 700 comprises a tool body, wherein a limiting part 701 for positioning the bottom surface of the valve body 100 is arranged on the top surface of the tool body, a plurality of positioning pin holes 703 which are used for accommodating vertical through holes of the locking screw 702 and are used for positioning and connecting with the interval arrangement of the rotating disc 1031 are formed on the bottom surface of the tool body, and a locking groove 704 used for connecting with a tool locking mechanism 1034 is formed on the side surface of the tool body, as shown in fig. 12.

Specifically, the limiting portion 701 includes limiting blocks uniformly distributed at four corners of the top surface of the tool body, and the embedded size of the area surrounded by the limiting blocks is consistent with the size of the bottom surface of the valve body 100, so as to position the valve body 100 and limit the movement of the valve body 100 in a horizontal plane. The robot sucks the valve body 100 and puts it into the limiting block, so that the rough positioning of the valve body can be realized. The positioning pin holes 703 are located in the area surrounded by the limiting block, correspond to the number and the positions of the positioning pin shafts, and are used for positioning the tool body. The tool locking mechanism 1034 selects a locking air cylinder, and the fixture body and the rotating disk 1031 are fixed through the insertion and matching of the movable part of the locking air cylinder and the locking groove 704. The locking screw 702 is used for detachable connection between the tool body and the valve body 100, as shown in fig. 13.

For better screw locking screw 702, valves mounting platform 1 can also include setting up the first system 8 of screwing up under the fixed position of horizontal reference surface, not only can make locking screw 702 and frock body firm in connection through first system 8 of screwing up, can also practice thrift the manpower, reduce the cost of labor.

The first tightening system 8 comprises a tightening mechanism 81 for screwing the locking screw 702. In order to enable the tightening mechanism 81 to perform vertical lifting movement and enable the tightening end of the tightening mechanism 81 to penetrate out of the fixed platform 101 upwards, a guide shaft 82 is hung downwards on the bottom surface of the fixed platform 101, a movable plate 83 is sleeved on the guide shaft 82, the tightening mechanism 81 is mounted on the movable plate 83, and a lifting driving mechanism 85 for driving the movable plate 83 to lift along the extending direction of the guide shaft 82 is arranged on the bottom surface of the movable plate 83. To fix the lifting driving mechanism 85, a fixing plate 84 is provided at the hanging bottom end of the guide shaft 82 and fixed to the first rectangular frame 104, and the lifting driving mechanism 85 is connected to the movable plate 83 through the fixing plate 84.

Specifically, the tightening mechanism 81 includes a tightening shaft and a rotating motor that drives the tightening shaft to rotate, the tightening shaft is mounted on the movable plate 83, the rotating motor is built in the tightening shaft, the tightening shaft sequentially passes through the movable plate 83 and the fixed plate 84, which are parallel to each other, from top to bottom, and the fixed plate 84 makes the vertical lifting of the tightening shaft more accurate. The lifting driving mechanism 85 is a lifting cylinder, a fixed part of the lifting cylinder is fixed on the fixed plate 84, a movable part is connected with the movable plate 83, and the extending and contracting direction of the lifting cylinder is parallel to the guide shaft 82. When the lifting cylinder is extended, the tightening shaft penetrates through the top surface of the fixed platform 101 by a certain distance, wherein the distance is determined according to the heights of the rotating table, the valve body positioning tool 700 and the valve body 100, and when the lifting cylinder is retracted, the tightening shaft is retracted below the top surface of the fixed platform 101.

The horizontal reference surface is also provided with a visual recognition position. At the visual recognition site, a first visual system 13 is provided, the first visual system 13 being operable to recognize and process mounting point information rotated onto a valve body mounting surface facing the first visual system.

In order to further increase the automation degree of the valve bank assembly platform 1, the valve bank assembly platform is provided with a tool storage position, a valve block fixing position and a valve block assembly assembling position, and the hydraulic valve block assembly is assembled by being matched with a first conveying device 11, a second conveying device 12, a first screwing system 8, a second screwing system 9 and a robot screwing system 10 and controlled by a control system 17 to work at three stations. The first carrying device 11 is used for grabbing and conveying the valve body positioning tool 700 between the fixed position and the tool storage position and conveying the valve body 100 to the rotary table 103 at the fixed position under the control of the controller, and the second carrying device 12 and the second tightening system 9 are arranged at the side of the assembly position and are matched with each other to mount the hydraulic components 200, the pipe joint 300, the plug 400, the bolt 500 and other parts to be assembled on the corresponding assembly surface of the valve body 100. Since the first conveying device 11, the second conveying device 12, the first tightening system 8, the second tightening system 9, and the robot tightening system 10 are provided at the same time, if all work is performed only at the fixed position, interference between the systems may occur, and an assembly operation space is provided by providing an assembly bit. Each machine system is matched with the valve group assembly platform 1 to carry out automatic assembly, so that repeated labor is reduced, the labor intensity of workers is reduced, and the assembly efficiency is ensured.

(2) The material conveying module comprises:

(21) The hydraulic valve piece material loading conveyor, as shown in fig. 15, includes:

the feeding roller line 22 and the return roller line 21 extend along a first conveying direction and are arranged side by side along a second roller direction, the conveying direction of the feeding roller line 22 is opposite to the conveying direction of the return roller line 21, and the first conveying direction is horizontally perpendicular to the second roller direction;

a first translation platform 23 and a second translation platform 24 respectively arranged at two ends of the feeding roller line 22 and the return roller line 21 along the first conveying direction, the first translation platform 23 is used for reciprocating horizontal translation conveying between the conveying head end of the feeding roller line 22 and the conveying tail end of the return roller line 21, the second translation platform 24 is used for reciprocating horizontal translation conveying between the conveying tail end of the feeding roller line 22 and the conveying head end of the return roller line 21, and

The loading tray 25 is used for loading the valve body 100 and the hydraulic components 200, and can sequentially move along the first translation platform 23, the loading roller line 22, the second translation platform 24, the return roller line 21 and the first translation platform 23 in a closed loop manner.

Specifically, gaps between the first translation platform 23 and the second translation platform 24 and the feeding roller line 22 and the return roller line 21 can ensure that the feeding tray 25 can smoothly and circularly move, wherein the feeding tray 25 is firstly conveyed from the first translation platform 23 at the head end of the feeding roller line 22 to the second translation platform 24 through the feeding roller line 22, then the feeding tray 25 is conveyed from the second translation platform 24 to the head end of the return roller line 21, and finally the feeding tray 25 is conveyed from the return roller line 21 back to the first translation moving platform 232. The whole circulation conveying process is highly automatic, a large amount of manual investment is reduced to reduce labor cost, so that the competitiveness of products is improved, the carrying and conveying efficiency of the valve body 100 and the hydraulic components 200 is reduced, and the production efficiency of the products is ensured.

The feeding roller line 22 and the returning roller line 21 each comprise two side feeding limiting walls 212 which are spaced apart along the second roller direction and are used for limiting the feeding tray 25, and a plurality of feeding conveying rollers 211 which are spaced apart along the first conveying direction, wherein the feeding conveying rollers 211 extend along the second roller direction;

as shown in fig. 17, the loading tray 25 includes:

a flat feeding substrate 251, and

The feeding positioning plate 252 is positioned and installed on the top surface of the feeding substrate 251, and the feeding positioning plate 252 is provided with a feeding profiling groove 253 for positioning the valve body 100 and the hydraulic component 200.

Wherein, through the loading profiling groove 253 that keeps the same with the profile of the valve body 100, the initial positioning of the valve body can be realized.

Further, each corner of the feeding substrate 251 is provided with a feeding positioning pin 255, the feeding positioning plate 252 is provided with a plurality of positioning holes 235 aligned with each feeding positioning pin 255 one by one, and the connection between the feeding positioning plate 252 and the feeding substrate 251 is realized through the insertion of the feeding positioning pins 255 and the positioning holes 235, see fig. 16. A plurality of feeding profiling grooves 253 are formed in the feeding positioning plate 252 according to the appearance and the size of the valve body 100 and the hydraulic components 200, and the positioning of the valve body 100 and the hydraulic components is realized through the feeding profiling grooves 253. The feeding positioning pin shaft 255 and the positioning hole 235 are used for realizing the detachable connection of the feeding positioning plate 252 and the feeding substrate 251. The loading positioning plate 252 is used as a main bearing part of the valve body 100 and the hydraulic component 200, abrasion is caused after long-term use, and when the abrasion degree is high and positioning cannot be completed, only the loading positioning plate 252 is needed to be replaced without replacing the whole loading tray 25, so that resources are saved.

The feeding roller line 22 is used for conveying the feeding tray 25 from the first translation platform 23 towards the second translation platform 24, the return roller line 21 is used for conveying the feeding tray 25 from the second translation platform 24 towards the first translation platform 23, the conveying head end of the feeding roller line 22 is a first feeding level 26, and the conveying head end of the return roller line 21 is a first discharging level 27.

Specifically, gaps among the feeding conveying rollers 211 are moderate, so that the feeding tray 25 can be prevented from falling due to overlarge gaps, the number of the feeding conveying rollers 211 can be guaranteed to be small, 60mm is generally selected as an optimal gap, the surface of the feeding conveying roller 211 is smooth, and damage to the lower surface of the feeding tray 25 in the conveying process can be effectively avoided. The spacing between the two side material loading limiting walls 212 is moderate, so that the material loading tray 25 can be ensured to be contacted with the material loading conveying roller 211 to be conveyed, and the material loading tray 25 can be ensured not to be separated from the material loading conveying roller 211.

The first translation stage 23 and the second translation stage 24 each comprise:

a linear slide rail mechanism 231 disposed along the second roller way direction;

a moving platform 232 for loading the loading tray 25 for translation along the linear slide rail mechanism 231;

The first photoelectric sensor 233 is arranged at the lateral side of the moving platform 232 and is used for detecting the position of the feeding tray 25 moving to the moving platform 232, and the first photoelectric sensor 233 is arranged to trigger a feeding tray 25 in-place signal when the feeding tray 25 moves in place;

the bottom of the feeding tray 25 is provided with a positioning pin hole, and the first translation platform 23 and the second translation platform 24 both comprise a jacking positioning device provided with a vertically arranged movable pin shaft 234.

Specifically, the moving platform 232 located at the first feeding position 26 can reciprocate at the head end of the feeding roller line 22 and the tail end of the return roller line 21, and the moving platform 232 located at the first discharging position 27 can reciprocate at the tail end of the feeding roller line and the head end of the return roller line 21, so that circulating conveying is realized. The linear slide rail mechanism 231 comprises a rail and a telescopic cylinder, the moving platform 232 is in sliding fit with the rail, the cylinder provides sliding power to enable the moving platform 232 to slide along the second roller way direction, and the back and forth switching from the feeding roller way line 22 to the return roller way line 21 is achieved.

When the first translation platform 23 or the second translation platform 24 moves, the jacking positioning device pushes the movable pin shaft 234 to be inserted into the positioning pin hole at the bottom of the feeding tray 25, so that the feeding tray 25 is accurately positioned on the first translation platform 23 or the second translation platform 24, the feeding tray 25 can be prevented from being separated from the first translation platform 23 or the second translation platform 24 in the moving process, and the safety is improved.

In addition, the hydraulic valve piece material loading conveyor still can include:

the second rectangular frame 28, the first conveying direction and the second roller direction are the length direction and the width direction of the second rectangular frame 28, respectively, on the second rectangular frame 28, the feeding roller line 22 and the return roller line 21 are arranged along the length direction, and the first translation platform 23 and the second translation platform 24 move along the width direction.

The other components of the whole hydraulic valve block feeding and conveying device are all arranged on the second rectangular rack 28, the bottom of the second rectangular rack 28 is provided with a moving wheel 29, the position of the second rectangular rack 28 can be adjusted through the moving wheel 29, the convenience of the whole hydraulic valve block feeding and conveying device is improved, and when the hydraulic valve block feeding and conveying device moves to a proper position, the moving wheel 29 is locked, so that the position of the hydraulic valve block feeding and conveying device is fixed.

(22) A hydraulic valve block blanking conveying apparatus, as shown in fig. 18, comprising:

a blanking tray 51 for loading the hydraulic valve block assembly 600;

the upper layer roller line 52 and the lower layer roller line 53 are arranged at intervals up and down and are used for conveying the blanking tray 51, a second feeding position 56 is arranged on one side of the conveying head end of the upper layer roller line 52, and a second blanking position 57 is arranged on one side of the conveying tail end;

a head-end lifting and translating platform 54 arranged at the second loading position 56 and capable of lifting and moving to transfer the blanking tray 51 from the conveying end of the lower layer roller line 53 to the conveying head end of the upper layer roller line 52, and

The end lifting and translation platform 55 is arranged at the second discharging position 57 and can move up and down to transfer the discharging tray 51 from the conveying end of the upper layer roller line 52 to the conveying head end of the lower layer roller line 53.

Specifically, the hydraulic valve block assembly 600 assembled in the previous step is firstly placed on the blanking tray 51 on the head-end jacking translation platform 54 at the second loading position 56, the head-end jacking translation platform 54 conveys the blanking tray 51 to the conveying head end of the upper layer roller line 52, the blanking tray 51 moves from the conveying head end to the conveying tail end on the upper layer roller line 52 and to the tail-end jacking translation platform 55 at the second unloading position 57, the blanking tray 51 is lowered from the conveying tail end of the upper layer roller line 52 by the tail-end jacking translation platform 55 and conveyed to the head end of the lower layer roller line 53, the blanking tray 51 moves from the conveying head end to the conveying tail end on the lower layer roller line 53, and finally the blanking tray 51 moves to the head-end jacking translation platform 54 for circulation. The whole conveying process is highly automatic, can be circularly performed, reduces the labor investment, reduces the labor cost, improves the competitiveness of the product, reduces the efficiency of conveying the hydraulic valve block assembly 600, is influenced by artificial subjective factors, and ensures the production efficiency of the product.

Further, the two end parts of the upper layer roller line 52 and the lower layer roller line 53 are aligned, interference caused by lifting movement of the head end lifting translation platform 54 and the tail end lifting translation platform 55 is avoided, and gaps between the upper layer roller line 52 and the lower layer roller line 53 and the head end lifting translation platform 54 and the tail end lifting translation platform 55 are proper, so that circular movement of the blanking tray 51 is not affected.

The hydraulic valve block blanking conveying device also comprises a second driving device 58, wherein the second driving device 58 is used for driving the upper layer roller line 52, the lower layer roller line 53, the head end jacking translation platform 54 and the tail end jacking translation platform 55 to work, and

The rectangular underframe 59, the upper layer roller line 52 and the lower layer roller line 53 are arranged centrally along the length direction of the rectangular underframe 59, and the head-end jacking translation platform 54 and the tail-end jacking translation platform 55 are arranged at two ends of the rectangular underframe 59.

Specifically, the second driving device 58 includes a driving motor and a servo motor, the driving motor is used for driving the upper layer roller line 52, the lower layer roller line 53, the head end jacking translation platform 54 and the tail end jacking translation platform 55 to convey the blanking tray 51 along the conveying direction, and the servo motor is used for driving the head end jacking translation platform 54 and the tail end jacking translation platform 55 to lift the blanking tray 51 along the vertical direction.

In practice, all the components of the hydraulic valve block blanking conveying device except the rectangular underframe 59 are arranged on the rectangular underframe 59, so that the integrity of the whole hydraulic valve block blanking conveying device is improved. A moving wheel is arranged at the bottom of the rectangular underframe 59, and is used for adjusting the position of the hydraulic valve block blanking conveying device and matching the positions of the previous working procedure and the next working procedure, and the moving wheel is locked and fixed after being adjusted to a proper position.

The head-end jack-up translation platform 54 and the tail-end jack-up translation platform 55 each include:

a tray loading platform 541 having a rectangular shape and configured to load the blanking tray 51;

a vertical lifting mechanism 542 for driving the tray carrying platform 541 to vertically lift;

The lifting guide 543 includes a plurality of vertical guide rods slidably inserted into corners of the tray carrying platform 541.

Specifically, the vertical lifting mechanism 542 may be an air cylinder, and the air cylinder is matched with the lifting guide 543, and the expansion and contraction direction of the air cylinder is consistent with the direction of the lifting guide 543. A second photoelectric sensor 544 is provided at the tray carrying platform 541 and is used for detecting a position where the discharging tray 51 moves or moves up and down, and when the discharging tray 51 moves up and down to a specified position, the second photoelectric sensor 544 triggers a signal that the discharging tray 51 is in place.

The upper roller line 52, the lower roller line 53, and the tray carrying platform 541 each include two-sided discharging limiting walls 521 for limiting the discharging tray 51, and a plurality of discharging conveying rollers 522 arranged along the conveying direction.

Specifically, gaps among the plurality of blanking conveying rollers 522 are moderate, so that the blanking tray 51 can be prevented from falling due to overlarge gaps, the number of the blanking conveying rollers 522 is small, 60mm is generally selected as an optimal gap, the surface of the blanking conveying rollers 522 is smooth, and damage to the lower surface of the blanking tray 51 in the conveying process can be effectively avoided. The spacing between the blanking limiting walls 521 at the two sides is moderate, so that the blanking tray 51 can be ensured to be in contact with the blanking conveying roller 522 to be conveyed, and the blanking tray 51 can be ensured not to be separated from the blanking conveying roller 522.

Similar to the loading tray, the unloading tray 51 may include:

A blanking base 511 having a flat shape and provided with a blanking oil sump 515, and

The blanking locating plate 512 is located and installed on the top surface of the blanking base 511, and a blanking profiling groove 513 for locating the hydraulic valve block assembly 600 is arranged on the blanking locating plate 512 of the blanking base 511.

Further, each corner of the blanking substrate 511 is provided with a blanking positioning pin 514, the blanking positioning plate 512 is provided with a plurality of positioning holes aligned with the blanking positioning pins 514 one by one, and the connection between the blanking positioning plate 512 and the blanking substrate 511 is realized through the plugging of the blanking positioning pins 514 and the positioning holes. A plurality of blanking profiling grooves 513 are arranged on the blanking locating plate 512 according to the appearance and the size of the valve body and the hydraulic components, and the valve body and the hydraulic components are located through the blanking profiling grooves 513. The blanking locating pin shaft 514 and the locating hole are used for realizing the detachable connection of the blanking locating plate 512 and the blanking matrix 511. The blanking locating plate 512 is used as a main bearing part of the valve body and the hydraulic components, abrasion is caused after long-term use, and when the abrasion degree is high and the locating cannot be completed, only the blanking locating plate 512 is needed to be replaced, the whole blanking tray 51 is not needed to be replaced, and resources are saved.

The unloading oil-collecting groove 515 of unloading base member 511 covers whole unloading base member 511 surface, and when the hydraulic components and parts 200 were placed on unloading base member 511, the residual oil of drip can concentrate in the unloading oil-collecting groove 515, effectively avoids the residual oil on the hydraulic components and parts to drop to ground at the in-process of carrying, and leads to the workman to slide down, increases the potential safety hazard.

As shown in fig. 6, in this embodiment, the hydraulic valve block blanking conveying device 5 and the hydraulic valve block feeding conveying device 2 are arranged in parallel and are adjacent to the feeding roller line 22, so that the structure is compact, and the first conveying device 11 is convenient for centralized and efficient feeding and discharging conveying.

(23) A joint transportation apparatus, as shown in fig. 22, comprising:

The lower layer wire body 32 and the upper layer wire body 31 are arranged at intervals up and down and are all arranged along the joint conveying direction, in the joint conveying direction, the conveying head end of the lower layer wire body 32 is respectively extended outwards by a set distance relative to the conveying head end of the upper layer wire body 31 and the conveying tail end of the lower layer wire body 32 is respectively stepped relative to the conveying tail end of the upper layer wire body 31, and

The joint stock bin is arranged at the end of the conveying head of the lower layer wire body 32 and is used for conveying the head to the lower layer wire body 32 and loading the joint 300 at the conveying head of the upper layer wire body 31.

Further, according to the size of the assembly site, the size specifications of the lower layer wire body 32 and the upper layer wire body 31 can be adjusted, so that the placement of other process devices cannot be influenced due to oversized size, and meanwhile, the position of the robot carrying system is adjusted, so that the lower layer wire body 32 and the upper layer wire body 31 can be smoothly connected with the next process device, and the site required by the joint conveying device is saved. After starting to work, workers arrange the pipe joints 300 on the conveying head ends of the upper layer wire body 31 and the lower layer wire body 32 one by one regularly, and can arrange the pipe joints 300 with different specifications, and then perform automatic transportation and blanking processes, so that a large amount of manpower is saved, labor cost is reduced, the competitiveness of a product is improved, working strength is reduced, the condition that the transportation efficiency is influenced by human subjective factors is reduced, the assembly efficiency is improved, and the production efficiency of the product is finally improved.

The joint feed bin is mainly used for loading the pipe joint 300, shortens the distance between the joint storage position and the lower-layer wire body 32, does not need workers to carry the pipe joint 300 from the joint storage position to the lower-layer wire body 32 and then place the pipe joint 300 on the lower-layer wire body 32, and reduces the working strength of the workers. Be equipped with the polylith baffle in the joint feed bin, the baffle is used for separating into a plurality of regions that are used for placing the coupling 300 of different specifications with the joint feed bin, conveniently deposit and take of the coupling 300 of different specifications. Before starting to work, all required pipe joints 300 with all specifications are stored in the joint storage bin and are placed in different areas according to different specifications, workers only need to place the pipe joints 300 in the corresponding areas on the lower-layer wire body 32 and the upper-layer wire body 31 for conveying, and the pipe joints are not required to be placed after being distinguished, so that the working strength of the workers is reduced.

Wherein, the lower layer wire body 32 and the upper layer wire body 31 each include:

The plurality of end stoppers 36 are provided at the ends of the plurality of belt conveyor lines 33 in one-to-one correspondence, the end stoppers 36 and the ends of the belt conveyor lines 33 are spaced apart from each other in the joint conveying direction, and the interval between the end stoppers 36 and the ends of the belt conveyor lines 33 is designed according to the pipe joints 300 of different specifications.

Specifically, a plurality of tip blocking pieces 36 bottom is fixed through the locating plate, and the guiding gutter with tip blocking piece 36 one-to-one is seted up to the one end that the locating plate is close to belt transfer chain 33, and the guiding gutter adopts V mouth structure, tank bottom circular arc transition. When the pipe joint 300 is not completely attached to the diversion trench, the pipe joint 300 rotates under the power of the belt conveyor line 33 until the pipe joint 300 is completely attached to the diversion trench, so that the initial positioning of the pipe joint 300 is realized. When the pipe joint 300 is initially positioned, the pipe joint 300 moves along with the belt conveyor line 33 until the pipe joint 300 abuts against the end blocking piece 36, and is in a static state. A rubber pad is provided at the collision of the end block 36 with the joint to reduce the impact between the pipe joint 300 and the end block 36, thereby reducing the abrasion of the pipe joint 300.

Further, the end blocking piece 36 is embedded with the first inductive switch 37, and the inductive end of the first inductive switch 37 is flush with the blocking end surface of the end blocking piece 36, so that the pipe joint 300 can be contacted with the inductive end of the first inductive switch 37 when the pipe joint 300 is in a static state.

The joint conveying device comprises a controller, and the controller is used for cooperating with the first inductive switch 37 to work, and the working principle of the controller is that the first driving device 35 of the corresponding lower layer wire body 32 or the upper layer wire body 31 is controlled to stop working, namely the corresponding driving motor 352 is closed in response to the contact inductive signal of the first inductive switch 37. And simultaneously controls the robot handling system to transport the pipe joint 300 to the next-stage assembling apparatus.

The joint conveying device further comprises a tightening system matched with the robot conveying system, the robot conveying system and the tightening system are controlled by a controller to work, and the specific working process is as follows:

Firstly, after the pipe joint 300 is contacted with the sensing end of the first sensing switch 37, the controller responds to the contact sensing signal of the first sensing switch 37, and controls the robot handling system to grasp the pipe joint 300 and separate the pipe joint from the end blocking block 36, then controls the robot handling system to convey the pipe joint 300 to the tightening system and then returns to the original position for next conveying, and finally the tightening system screws the pipe joint 300 into the corresponding mounting hole on the valve body to complete the assembly of the pipe joint 300.

In fact, the distance between any two adjacent belt conveyor lines 33 is not less than 10mm, and at least part of the belt conveyor lines 33 have different belt widths, so that it is ensured that the pipe joints 300 on the adjacent belt conveyor lines 33 do not collide, the width of the upper line body 31 or the lower line body 32 is not increased, and different pipe joints 300 can be transported on belts of different widths.

The joint transportation device may further include:

The bottom frame 38 is rectangular and comprises vertical supporting rods extending upwards from the corners of the rectangle, and the lower layer wire body 32 and the upper layer wire body 31 which are vertically spaced are respectively fixedly arranged on the vertical supporting rods.

To secure the upper and lower wire bodies 31 and 32 and to stabilize the conveying process, the upper and lower wire bodies 31 and 32 are fixed to the bottom frame 38, and the integrity of the joint conveying device is improved.

(24) Screw plug conveying device

As shown in fig. 19 to 21, in the embodiment of the present application, the plug feeding and conveying device 4 is used for feeding plugs 400 with different specifications, and the plug feeding and conveying device 4 is composed of a plurality of sets of material boxes 41, inclined pipelines 44, vibrating material trays 42, material discharging grooves 43, limiting grooves 46, plug sensing switches 461, material discharging rails 45 and a second rectangular frame 28.

Wherein, the material box 41 and the inclined pipeline 44 are welded into a whole and fixed on the second rectangular frame 28, the tail end of the inclined pipeline 44 is a discharge port, and the discharge port is arranged above the vibration material tray 42; the vibration material disc 42 and the discharge groove 43 are arranged on the second rectangular frame 28, the vibration material disc 42 is communicated with the discharge groove 43 through the discharge fence 45, one end of the discharge groove 43 away from the discharge fence 45 is provided with a limit groove 46, and the screw plug induction switch 461 is arranged on the limit groove 46 and triggers a screw plug in-place signal when detecting the screw plug 400;

The discharging fence 45 is composed of an upper baffle 453, a lower baffle 454, two side baffles 455 and a peripheral frame 452, the upper baffle 453, the lower baffle 454 and the side baffles 455 form an integral structure through the peripheral frame 452, the lower baffle 454 is positioned below the discharging fence 45 and used for supporting the screw plug 400, the two side baffles 455 are respectively arranged at two sides of the discharging fence 45 to prevent the screw plug 400 from being separated from the discharging fence 45, the upper baffle 453 is arranged above the discharging fence 45, the upper baffle 453 is parallel to the screw plug 400, and a small gap is reserved in the middle to ensure that the screw plug 400 can smoothly pass through, so that the screw plug 400 with wrong specification can be effectively prevented from entering the discharging fence 45.

The plug loading delivery device also includes a controller 47 configured to respond to the plug in-place signal and control the vibratory tray 42 to cease functioning. The controller 47 is used to control the progress or interruption of the feeding process of the screw feeding conveyor. Specifically, when the screw plug 400 falls into the limit slot 46, the screw plug inductive switch 461 sends out a screw plug in-place signal, the controller 47 controls the vibration tray 42 to stop vibrating, the screw plug 400 stops moving, when the screw plug 400 in the limit slot 46 is pulled out for use, the controller 47 responds to the limit slot no-load signal sent out by the screw plug inductive switch 461 to control the vibration tray 42 to continue vibrating, so that the screw plug 400 is continuously conveyed until the next screw plug 400 falls into the limit slot 46, and the above process is repeated to complete the automatic feeding work of the screw plug 400.

Each vibration charging tray 42 carries out the delivery of same specification plug 400, and a plurality of vibration charging trays 42 adopt the form of dislocation back and forth to make the overall arrangement comparatively compact, can effectively save space.

When the screw plug feeding and conveying device 4 works, firstly, the screw plug 400 is manually placed into the material box 41, the screw plug 400 flows into the vibration material tray 42 along the inclined pipeline 44, the screw plug 400 is regularly discharged into the material discharging groove 43 (the threaded part of the screw plug 400 faces downwards) through the material discharging rail 45 under the vibration of the vibration material tray 42, when the threaded part of the screw plug 400 is attached to the limiting groove 46, the screw plug inductive switch 461 sends out a screw plug in-place signal, the vibration material tray 42 stops working, and the screw plug 400 positioned in the limiting groove 46 is sucked and installed on the valve body 100 by the robot screwing system 10.

(3) Material handling module

As shown in fig. 32, the first carrying device 11 is composed of a base, a robot, and a dedicated combination jaw. The robot can be flexibly controlled, can adopt a six-axis robot, is fixed on the base, and can be provided with a common clamping jaw or a special combined clamping jaw specially designed according to the object grabbing. The electromagnetic and pneumatic clamping jaw grabbing structure can be configured on the special combined clamping jaw, the electromagnetic is fixed at the center of the special combined clamping jaw, the pneumatic clamping jaw is arranged at two ends of the special combined clamping jaw, the surface of the valve block is smooth and flat and is a metal piece, the structural design of the electromagnetic suction is simpler, and the hydraulic component 200 is easy to damage due to the electromagnetic component, the electromagnetic suction structure is adopted, so that the pneumatic clamping jaw grabbing structure is adopted, the pneumatic clamping jaw is expanded and contracted to clamp parts with a larger overall dimension range, and the grabbing of four hydraulic components on the hydraulic valve block can be realized, and the compatibility is stronger.

As shown in fig. 33, the second carrying device 12 is composed of a base, a robot and an electric clamping jaw, and is also a robot which is flexibly controlled, the robot is also a six-axis robot and is fixed on the base, the electric clamping jaw is installed on the base, the electric clamping jaw adopts a V-shaped finger structure, can be meshed with a hexagonal shape of the pipe joint 300, is not easy to bulge after being grabbed, and the pipe joint 300 with different sizes can be clamped by changing the strokes of the electric clamping jaw.

In the embodiment of the invention, the specific working process is as follows:

When the first inductive switch 37 senses that the pipe joint 300 is conveyed in place, the robot starts to move from an original point to a position right above the pipe joint 300 according to a set walking track (an electric clamping jaw on the robot is in a horizontal state, the center of the clamping jaw coincides with the center of the pipe joint 300, a clamping surface is parallel to the hexagonal part of the pipe joint 300), the robot moves downwards again until the upper surface of the clamping jaw is flush with the upper surface of the pipe joint 300, the electric clamping jaw receives a signal to drive the electric clamping jaw to fold inwards to clamp the pipe joint 300 after the robot is in place, and a displacement and pressure sensor is arranged on the inner side of the electric clamping jaw, so that when the folding range of the electric clamping jaw meets a set displacement value and the clamping force is larger than the pressure setting, the electric clamping jaw is judged to clamp the pipe joint 300 in place.

When the displacement and pressure sensors sense that the pipe joint 300 is clamped in place, the robot drives the electric clamping jaw to move upwards until the lower surface of the pipe joint 300 is completely separated from the horizontal high point of the belt conveying line 33, then the robot rotates 180 degrees to enable the pipe joint 300 clamped by the electric clamping jaw to be converted into a horizontal grabbing state from a vertical grabbing state, and finally the robot moves the pipe joint 300 to the second tightening system 9 according to a set walking track.

(4) Assembly screwing module

According to the range (for example, 5 N.m-450 N.m) of screw tightening torque values on the hydraulic valve block assembly, three tightening shafts with different torque ranges are selected, so that the screw tightening torque range on the hydraulic valve block can be covered, meanwhile, in view of the fact that automatic assembly is adopted by self equipment, the tightening shafts can be installed and fixed on a robot or a servo device, wherein the small-torque tightening shafts can be installed on the robot, and the large-torque tightening shafts can be fixed on the servo device.

In the illustrated embodiment, the assembly tightening module comprises a sleeve quick change device, a first tightening system 8, a second tightening system 9 and a robotic tightening system 10. Different tightening systems are responsible for different tightening requirements. The range of torque values of the robot tightening system 10 shown in fig. 30 is relatively small but the posture is flexible, and the range of torque values of the first tightening system 8 shown in fig. 14 and the second tightening system 9 shown in fig. 27 is relatively large, and the second tightening system 9 can provide lifting and translating functions.

Referring to fig. 6, the combined use of the second tightening system 9 and the robot tightening system 10 can save costs and the operation space of each other is less likely to interfere with each other, compared to the use of 2 sets of robot tightening systems.

(41) Sleeve quick-changing device

As shown in fig. 24, 25, 26, 28 and 29, in the embodiment of the present application, the sleeve quick-changing device includes a first sleeve quick-changing device 6 and a second sleeve quick-changing device 7, and the first sleeve quick-changing device 6 and the second sleeve quick-changing device 7 have the same structure and each include a quick-changing bracket 61 and a plurality of tightening assemblies 90.

The quick-change bracket 61 comprises a first placing bracket 611 and a second placing bracket 612 which are arranged at intervals, the first placing bracket 611 can be far away from or close to the second placing bracket 612, and a plurality of component placement holes 613 penetrating through the first placing bracket 611 and the second placing bracket 612 are formed in the quick-change bracket 61;

The plurality of tightening assemblies 90 are placed in the plurality of assembly placement holes 613 in a one-to-one correspondence, the tightening assemblies 90 comprise a quick-change head 92 clamped between the first placement bracket 611 and the second placement bracket 612 and a tightening member 91 clamped on the second placement bracket 612, and the quick-change head 92 comprises a torque connection end 922 provided with a torque connection hole 921 and a transmission connection end 923 in transmission connection with the tightening member 91;

The quick-change head 92 is provided on its outer peripheral wall with a connection locking member 924, the connection locking member 924 being partially inserted into the torque connection hole 921 to lock the torque connection in a position where the first placement bracket 611 is away from each other with respect to the second placement bracket 612, and the connection locking member 924 being disengaged from the torque connection hole 921 to open the torque connection in a position where the first placement bracket 611 is close to each other with respect to the second placement bracket 612.

The quick-change holder 61 includes a holder driving mechanism 620 for driving the first placing holder 611 to be able to move away from or close to the second placing holder 612. Control of the first placement frame 611, and thus the connection lock 924, is achieved by control of the frame drive mechanism 620.

Specifically, the rack driving mechanism 620 includes a driving member and a rack guide shaft, where the rack guide shaft vertically penetrates through the first placement rack 611 and the second placement rack 612, and the second placement rack 612 moves linearly along the rack guide shaft under the action of the driving member.

Further, the driving member is preferably an air cylinder, the cylinder barrel of the air cylinder is fixed at the center position of the second placing bracket 612, one end of the piston rod of the air cylinder is connected with the first placing bracket 611, and the guide shafts are uniformly arranged at intervals around the air cylinder. The piston rod is extended, the first placing bracket 611 is far away from the second placing bracket 612, the connecting locking piece 924 is partially extended into the torque connecting hole 921 to be locked in torque connection, the piston rod is contracted, the first placing bracket 611 is close to the second placing bracket 612, the connecting locking piece 924 is separated from the torque connecting hole 921, and the torque connection is opened. The rack driving mechanism 620 is not limited to an air cylinder, and a driving motor or manual driving may be used.

The component mounting hole 613 has a hole diameter larger than the maximum outer diameter of the tightening component 90 so that the tightening component 90 can be placed in the quick-change bracket 61 or withdrawn from the quick-change bracket 61 through the component mounting hole 613. Specifically, the assembly seating hole 613 includes a moving space in which the tightening assembly 90 is horizontally placed or withdrawn and a placing space in which the tightening assembly 90 is placed, and when the tightening assembly 90 is replaced, the tightening system for controlling the tightening assembly 90 vertically lifts the tightening assembly 90 from the placing space and horizontally withdraws the tightening assembly 90 through the moving space.

The sliding sleeve 93 is disposed on the outer peripheral wall of the quick-change head 92, and when the first placing bracket 611 is far away from or near to the second placing bracket 612, the sliding sleeve 93 can be driven to slide along the outer peripheral wall of the quick-change head 92, and the connection locking member 924 is driven to extend into the torque connection hole 921 or be separated from the torque connection hole 921 correspondingly. The sliding sleeve 93 serves as an intermediate transmission member, the first placing bracket 611 drives the sliding sleeve 93 to move along the axial direction of the quick-change head 92, and the axial movement of the sliding sleeve 93 can drive the connecting locking member 924 to move perpendicular to the central axis of the quick-change head 92 so as to enable the connecting locking member 924 to extend into or separate from the torque connecting hole 921, so that the opening or locking of the torque connection of the quick-change head 92 can be achieved by controlling the position of the first placing bracket 611.

The assembly seating hole 613 includes a first seating hole 614 formed through the first positioning bracket 611 and a second seating hole 615 formed through the second positioning bracket 612, and a thrust spigot portion 616 for pushing the sliding sleeve 93 to slide is formed on an inner circumferential wall of the first seating hole 614. When the first placing bracket 611 moves close to the second placing bracket 612, the pushing stop portion 616 and the end face of the sliding sleeve 93 away from the tightening member 91 abut, so that the first placing bracket 611 can drive the sliding sleeve 93 to move from the locking sliding position to the releasing sliding position.

The first baffle 617 and the second baffle 618 are respectively arranged on two axial sides of the second mounting hole 615, a limiting clamping groove 619 is formed between the inner peripheral wall of the first baffle 617 and the second mounting hole 615 and the second baffle 618, a protruding limiting part 928 is formed on the outer peripheral wall of the quick-change head 92, and the limiting part 928 is clamped in the limiting clamping groove 619. The first baffle 617 and the second baffle 618 provide support for the tightening assembly 90, and the limiting portion 928 is clamped in the limiting clamping groove 619 to limit the horizontal displacement of the tightening assembly 90, so that the stability of the placement of the tightening assembly 90 is guaranteed, and the phenomenon that the tightening assembly 90 is displaced by external force to affect the replacement efficiency of the tightening assembly 90 when the tightening assembly 90 is replaced is avoided.

The second placing bracket 612 is provided with a suspension supporting plate 621 extending from the bracket wall surface below the second placing hole 615, the suspension supporting plate 621 is provided with a second baffle 618 and a third baffle 622 at intervals, and the tightening member 91 is supported on the suspension supporting plate 621 and two ends of the tightening member are clamped between the second baffle 618 and the third baffle 622. The tightening assembly 90 having a large center of gravity away from the second barrier 618 can be supported in an auxiliary manner by the suspension support plate 621 and the third barrier 622 provided on the suspension support plate 621 to ensure smooth replacement of the tightening assembly 90.

Specifically, the third baffle 622 is disposed at an end of the suspension support plate 621 away from the second mounting hole 615, and the top surface of the third baffle 622 is L-shaped, that is, provides support for the tightening assembly 90, and simultaneously limits the position of the tightening assembly 90 in a horizontal movement to ensure that the tightening assembly 90 can be clamped in the limiting slot 619.

The suspension support plate 621 is further provided with a detection sensor 623 for sensing the tightening member 91. By detecting the sensor 623, it can be automatically determined whether the replacement of the tightening unit 90 is completed, and the next process is performed as soon as possible after the replacement of the tightening unit 90 is completed. Specifically, the detection sensor 623 is disposed on the suspension support plate 621 and directly below the tightening assembly 90, and when the tightening member 91 is completely removed from the quick-change bracket 61, the detection sensor 623 senses that there is no obstacle above and then transmits a replacement completion signal to the tightening system for controlling the tightening assembly 90 to continue the next operation.

The peripheral wall of the torque connection hole 921 is provided with a steel ball receiving hole 925 penetrating in the wall thickness direction, a plurality of steel balls as connection locking members 924 are received in the steel ball receiving hole 925, and the inner peripheral wall of the slide bush 93 is provided with a circumferential limit groove 931, wherein the circumferential limit groove 931 is axially displaced from the steel ball receiving hole 925 in a position where the first placement bracket 611 is away from each other with respect to the second placement bracket 612, the inner peripheral wall of the slide bush 93 partially presses the steel balls into the torque connection hole 921 in a position where the first placement bracket 611 is close to each other with respect to the second placement bracket 612, and the circumferential limit groove 931 is aligned with the steel ball receiving hole 925 to partially receive the steel balls. Through making the steel ball push in the torque connection hole 921 or fall into circumference limit groove 931, can realize quick connect or dismantle of quick change head 92 and the screw shaft that is used for transmitting the moment of torsion, the simple operation is applicable to automatic equipment. It should be noted that the implementation form of the connection locking member 924 is not limited to the steel ball and the steel ball receiving hole 925, and an elastic collar may be selected and a locking portion may be provided on the quick-change head.

The outer peripheral wall of the quick-change head 92 is provided with a convex spigot, the inner peripheral wall of the sliding sleeve 93 is provided with a spigot groove 932 aligned with the convex spigot, the screwing-down quick-change device further comprises a compression spring 933 sleeved on the outer peripheral wall of the quick-change head 92 and accommodated in the spigot groove 932, one end of the compression spring 933 elastically abuts against a step part of the convex spigot, and the other end elastically abuts against a step part of the spigot groove 932. By compressing the spring 933, the sliding sleeve 93 can be always in the locking sliding position when no external force is applied, thereby ensuring that the connection locking member 924 always extends into the torque connection hole 921 to lock the torque link.

Specifically, when the sliding sleeve 93 is driven by the first placing bracket 611 to move along the axial direction of the quick-change head 92, the compression spring 933 is compressed under force, the sliding sleeve 93 moves to the release sliding position, and when the first placing bracket 611 is far away from the second placing bracket 612, the sliding sleeve 93 returns to the locking sliding position under the action of the compression spring 933, and the whole process can be realized only by controlling the bracket driving mechanism 620 to enable the first placing bracket 611 to move along a straight line. Further, a stop clip 934 is further provided on the outer peripheral wall of the quick-change head 92 to prevent the sliding sleeve 93 from being separated from the quick-change head 92.

The transmission connection end 923 of the quick-change head 92 is coaxially extended with a centering shaft 926, and the tightening member 91 is a tightening sleeve and includes a tightening end 911 provided with a tightening hole 914 recessed from an end surface and a through connection end 912 provided with a central connection hole 913, and the centering shaft 926 is axially inserted into the central connection hole 913 and axially extends out of the tightening hole 914. For pipe-type workpieces for joining (e.g., pipe joint 300), centering shaft 926 may extend into the pipe-type workpiece to assist in positioning.

The connecting shaft 927 coaxially extends out of the transmission connecting end 923 of the quick-change head 92, the tightening assembly 90 comprises a gear shaft assembly 94, the gear shaft assembly 94 comprises a driving shaft 941 provided with a driving gear and a driven shaft 942 provided with a driven gear, the driving shaft 941 and the driven shaft 942 are arranged side by side in the radial direction, the tightening member 91 is mounted at the outer end of the driven shaft 942, eccentric tightening of a connecting piece can be achieved due to the fact that the driving shaft 941 and the driven shaft 942 are not on the same axis, the tightening assembly 90 can conveniently work under the condition that the mounting space is limited, in addition, the tightening assembly 90 further comprises a connecting sleeve 95, one end of the connecting sleeve 95 is sleeved with the connecting shaft 927, the other end of the connecting sleeve 95 is coaxially sleeved with the driving shaft 941, indirect connection between the quick-change head 92 and the driving shaft 941 is achieved through the connecting sleeve 95, and interference caused by the quick-change head 92 under the condition that the mounting space is limited.

Specifically, the adjustment of the eccentric dimension of the tightening member 91 can be achieved by adjusting the center distance between the driving shaft 941 and the driven shaft 942 according to the range of the installation space when the tightening device is operated. Further, the tightening member 91 is a tightening nut for tightening a connection with an inside corner.

(42) First tightening system

As shown in fig. 14, in the embodiment of the present application, the first tightening system 8 is composed of a tightening mechanism 81, a guide shaft 82, a movable plate 83, a fixed plate 84, and a lifting drive mechanism 85.

The fixing plate 84 is fixed on the fixing platform 101 through the guide shaft 82, the lifting driving mechanism 85 is arranged on the fixing plate 84, the lifting end of the lifting driving mechanism 85 is connected with the movable plate 83, the screwing mechanism 81 is arranged on the movable plate 83, and the lifting driving mechanism 85 pushes the movable plate 83 to move up and down along the guide shaft 82 when working, so that the screwing mechanism 81 moves up and down.

(43) Second tightening system

As shown in fig. 27, in the embodiment of the present application, the second tightening system 9 includes a first electric tightening shaft 901, a first mounting platform 902, a first rail-slider mechanism 903, a first drive motor 904, a second drive motor 905, a frame 906, and a worm gear.

The first electric tightening shaft 901 is sleeved with a centering sleeve at one end, the centering sleeve can coaxially rotate with the first electric tightening shaft 901, a first mounting platform 902 is mounted on a second driving motor 905, a worm gear is fixed with the first mounting platform 902, the second driving motor 905 is connected with the worm gear, the second driving motor 905 drives the worm gear to move to achieve up-and-down movement of the first mounting platform 902, and the first driving motor 904 is fixed on the first mounting platform 902 and used for driving a first guide rail sliding block mechanism 903 to drive the first electric tightening shaft 901 to achieve horizontal linear movement.

Under the combined action of the first driving motor 904 and the second driving motor 905, the first electric tightening shaft 901 can move up and down and back and forth, so that the first electric tightening shaft 901 moves to be flush with the installation hole site of the valve body 100, and then the first electric tightening shaft 901 rotates to realize the tightening of the pipe joint 300 on the valve body 100.

The specific working process in the embodiment of the invention comprises the following steps:

The control system 17 drives the first driving motor 904 and the second driving motor 905 to drive the first electric tightening shaft 901 to move up and down and back to the position of the mounting hole according to the mounting hole of the pipe joint 300 on different valve bodies 100, and to enable the pipe joint 300 to be coaxial with the mounting hole, then the control system 17 controls the first electric tightening shaft 901 to move until the end face of the pipe joint 300 contacts with the end face of the valve body 100, then controls the first electric tightening shaft 901 to rotate forward at a small rotating speed until the six parts of the pipe joint 300 are meshed with the six parts in the centering sleeve, automatically sets a torque value according to the pipe joint 300 and controls the first electric tightening shaft 901 to screw in the valve body 100 to reach the set value after the meshing, and finally controls the first electric tightening shaft 901 to rotate reversely at a small rotating speed, releases the torque value between the centering sleeve and the pipe joint 300 and returns to the initial position.

(44) Robot tightening system

As shown in fig. 30 and 31, the robot tightening system 10 may be composed of a base, a robot, a tightening device, etc., the robot may be a six-axis robot, fixed to the base, and the tightening device is installed at the end of the robot. Referring to fig. 31, the tightening device may be composed of a connection plate 1001, a tightening shaft 1002, a horizontal telescopic cylinder 1003, guide rails 1004, a sliding plate 1005, and a magnetic sleeve 1006, wherein the guide rails 1004 are installed on two sides of the connection plate 1001, the horizontal telescopic cylinder 1003 is fixed on the connection plate 1001 and is located between the guide rails 1004 on two sides, the sliding plate 1005 is disposed above the guide rails 1004 and is connected with the end of the telescopic cylinder through a piston rod, the tightening shaft 1002 is fixed on the sliding plate 1005, and the sliding plate 1005 moves along the guide rails under the action of the telescopic cylinder, so that the tightening shaft 1002 moves along to realize axial displacement.

The end of the tightening shaft 1002 is matched with a magnetic sleeve 1006, after the robot tightening system 10 moves to the blanking opening of the screw plug feeding conveying device 4, the tightening shaft 1002 slowly moves downwards to be close to the screw plug 400, the magnetic sleeve 1006 attracts the screw plug to realize the feeding of the screw plug, the robot tightening system 10 moves to a valve block mounting hole site, and the tightening shaft 1002 moves forwards and rotates to realize the small torque tightening of the screw plug under the action of a horizontal telescopic cylinder 1003.

The automatic assembly equipment of the hydraulic valve block assembly not only carries out the optimal design on equipment composition, structure and layout, but also optimizes the assembly process of the hydraulic valve block assembly according to the structural characteristics and the installation positions of parts on the hydraulic valve block assembly by combining an automatic manufacturing technology. For example, the assembly may be performed sequentially in the order of the mounting surfaces in the conventional manual assembly method, and the assembly may be performed sequentially in the order of the types of the parts, for example, the assembly may be performed sequentially from small to large according to the external dimensions of the parts without interference in the automatic assembly.

The application further provides an automatic assembly method of the hydraulic valve block assembly, which adopts the automatic assembly equipment of the hydraulic valve block assembly to assemble the hydraulic valve block assembly, wherein the automatic assembly method is particularly used for sequentially assembling the hydraulic valve block assembly according to the types of assembly parts in the assembly process. For example, the type of the fitting member of the present embodiment includes the hydraulic component 200, the pipe joint 300, the plug 400, and the like in addition to the valve body 100, so that the plug 400 on the five valve body fitting surfaces of the valve body can be first installed, then the pipe joint 300 is fitted, and finally the hydraulic component 200 is fitted.

As an example, in the case of automatic assembly without interference, assembly may be performed from small to large according to the external dimensions of the parts of the assembly part, i.e., the automatic assembly method may include:

Firstly, fixing the valve body 100 on the assembly position of the valve group assembly platform 1;

Then a plurality of plugs 400 are respectively screwed and installed on the assembly surfaces of the valve body 100;

then, a plurality of pipe joints 300 are respectively screwed and installed on the valve body assembly surfaces of the valve body 100;

finally, the hydraulic components 200 are screwed and mounted on the corresponding valve body assembly surfaces of the valve body 100.

Specifically, the automated assembly process flow is referenced below:

first step, large piece feeding (valve body 100, hydraulic component 200)

The valve body 100 and the hydraulic components 200 are placed in the feeding tray 25 at fixed points, and are conveyed to the inner side of the equipment through the hydraulic valve block feeding and conveying device 2, and the first conveying device 11 respectively grabs the valve body and the hydraulic components from the tray for conveying.

Second step, fixing the valve body

The first handling device 11 is used for grabbing the valve body 100 from the hydraulic valve block feeding and conveying device 2 and then placing the valve body 100 on the valve block assembly platform 1, and the first tightening system 8 can be used for tightening the connecting bolts from the lower part of the workbench according to the valve block type so as to firmly connect the valve body positioning tool 700 with the valve body 100.

Third step, detecting the mounting hole position of the valve block

After the valve body 100 is fixed, in a visual identification position, the first visual system 13 shoots and collects images of the side face of the valve block, which is opposite to the first visual system 13, the rotary table body rotates 90 degrees after the collection, the first visual system 13 shoots and collects images of the other side face, which is opposite to the first visual system 13, of the valve block until the collection of the four side face images is completed, the first visual system 13 establishes a corresponding relation between the coordinates of the valve block mounting hole and the actual position through mathematical operation, meanwhile, the coordinate deviation value is transmitted to the robot tightening system 10 and the second tightening system 9, the precise running position of the mounting hole is realized through the robot tightening system 10 and the second tightening system 9, and the rotary table 103 moves to an assembly position.

Fourth step, part feeding

The pipe joint 300 and the plug 400 are respectively placed in the joint conveying device 3 and the plug feeding conveying device 4, and the joint conveying device 3 and the plug feeding conveying device 4 convey materials to the inner side of the equipment in a regular arrangement.

Fifth step, dispensing the parts

After the second carrying device 12 picks up the pipe joint 300, the pipe joint moves to the lower part of the glue injection system 15 for thread gluing. After the glue application is completed, the test is carried out under the second vision system 14 (whether the sealing ring on the pipe joint exists or not and the glue application state is achieved).

Sixth step, mounting the parts

The first carrying device 11 grabs the hydraulic component 200 and moves to the valve block mounting position, the robot tightening system 10 moves to the connecting bolt position of the hydraulic component 200, the hydraulic component 200 is fastened with the valve body 100 by tightening the bolts, and the first carrying device 11 releases the clamping jaw and returns to the original point.

The second carrying device 12 moves the pipe joint 300 to the second tightening system 9, the second tightening system 9 moves to position the pipe joint 300 to the corresponding mounting hole of the valve block, the electric tightening shaft works to tighten the pipe joint 300, and the second tightening system 9 performs sleeve replacement on the electric tightening shaft through the first sleeve quick-changing device 6 according to different specifications of the pipe joint 300.

After the robot screwing system 10 moves to the discharge hole of the screw plug feeding and conveying device 4, the screwing shaft slowly moves downwards to be close to the screw plug 400, the magnetic sleeve attracts the hexagonal hole of the screw plug to realize screw plug feeding, the robot screwing system 10 moves to the valve block mounting hole site, the screwing shaft moves forwards and rotates to realize screw plug screwing under the action of the telescopic cylinder, and according to different screw plug specifications, the robot screwing system 10 can change the sleeve on the electric screwing shaft through the second sleeve quick-change device 7.

Seventh step, hydraulic valve block assembly is taken off line

After the hydraulic valve group is assembled, the first tightening system 8 unscrews the connecting bolts of the valve body positioning tool 700 and the valve body 100 through the electric tightening shaft. The first carrying device 11 clamps the assembled hydraulic valve block assembly from the workbench and carries the hydraulic valve block assembly onto a blanking tray of the hydraulic valve block blanking conveying device 5. The hydraulic valve block blanking conveying device 5 operates, the hydraulic valve block assembly is conveyed to the outer side of the conveying device, and the hydraulic valve block blanking conveying device can further hoist the line through the cantilever hoisting equipment 16.

In the automatic assembly equipment of the hydraulic valve block assembly, each functional mechanism such as carrying, screwing and the like can adopt a driving mechanism such as a servo motor and the like which is accurately controllable, and the control system 17 can combine the operation requirements and specific requirements of automatic feeding and discharging, grabbing, assembling, detecting and operating elements and control elements according to the automatic assembly process flow, and the functional requirements of controlling the assembly units and the elements to be completed are divided into the following four types:

1) Automatic feeding/discharging of the hydraulic valve block, see fig. 34, which is a process control flow chart of automatic feeding/discharging of the hydraulic valve block;

2) Automatic feeding and assembling of the plug, see fig. 35, which is a process control schematic diagram of the plug assembly control unit;

3) Automatic feeding and assembling of pipe joints, see fig. 36, which is a process control schematic diagram of a pipe joint assembling control unit;

4) Automatic feeding and assembling of hydraulic components are shown in fig. 37, namely a process control schematic diagram of a hydraulic component assembly control unit.

In the automatic assembly equipment of the hydraulic valve block assembly, each assembly link is controlled by the control system 17 in the whole assembly process of the valve block assembly, and manual intervention is not needed. The material conveying module is used for realizing the feeding of materials, the material conveying module is used for automatically grabbing and conveying, the glue injection system is used for gluing, the vision module is used for judging the states of all parts and accurately identifying the positions of all mounting holes of the valve body, and finally the assembly tightening module is used for realizing the connection and fixed torsion tightening between all assembly parts, so that the occurrence of quality hidden troubles such as neglected loading, missed tightening and glue leakage in the assembly process is avoided, the production efficiency is improved, the labor intensity of staff is reduced, and the assembly working environment is improved.

Fig. 38 is an overall control flow diagram of a control system according to an embodiment of the application. As an example, as previously described, the control system 17 may use the PLC as a master station and communicate with the touch screen, and implement input and output between the communication module and the valve assembly platform 1, the material conveying module, the material handling module, the glue injection system, the vision module, and the assembly tightening module, and perform control of the whole automated assembly, and simultaneously implement manual debugging and key data monitoring for all modules by using the touch screen.

From the standpoint of control actions, control logic, the control system 17 may include a plurality of sub-control units for effecting control of a single assembly action, such as a valve body positioning tooling change control unit, a valve body loading control unit, a plug assembly control unit, a pipe joint assembly control unit, a hydraulic component assembly control unit, and/or a hydraulic valve block assembly blanking control unit, and the like. Further, the control system 17 may also include a timing control unit for coordinating the various sub-control units to complete automated assembly of the hydraulic valve block assembly. The sub-control unit can accurately control the servo driving motor of each functional component in the automatic assembly equipment to complete specific assembly actions, and the time sequence control unit can set the working sequence, time sequence node, start-stop condition and the like of each sub-control unit through software.

Specifically, based on the structure of the valve assembly platform 1, the control system 17 may include a valve body positioning tool replacement control unit configured to:

driving the moving slide plate 102 to move to a fixed position along the first platform direction;

In the fixed position, the original valve body positioning tool 700 on the rotary table 103 is removed and moved away by the first carrying device 11;

according to the specification of the valve body 100 of the valve group to be assembled, the tooling quick change mechanism 105 is controlled to switch out the corresponding valve body positioning tooling 700;

the corresponding valve body positioning tool 700 is conveyed to a fixed position by the first conveying device 11 and clamped and fixed on the rotary table 103.

Through the valve body positioning tool replacement control unit, the disassembly and replacement installation of the valve body positioning tool 700 can be realized by combining and controlling the servo driving motor of the movable sliding plate 102, the rotary driving motor of the rotary table 103, the switching mechanism of the tool quick-change mechanism 105 and the first carrying device 11 serving as a robot, so that the valve body positioning tool 700 is suitable for valve bodies 100 with different specifications, and matched valve body positioning tools 700 are selected.

Optionally, the control system 17 includes a valve body feeding control unit configured to:

controlling the hydraulic valve block feeding and conveying device 2 to convey the valve body 100;

Controlling the moving turntable so that the turntable 103 moves to a fixed position, wherein the turntable 103 is provided with a valve body positioning tool 700 corresponding to the specification of the valve body 100;

the first carrying device 11 is controlled to grasp the valve body 100 and carry the valve body to the valve body positioning tool 700 of the rotary table 103;

the first tightening system 8 is controlled to tighten the valve body positioning tool 700 and the valve body 100.

It can be seen that, through the valve body feeding control unit, the hydraulic valve block feeding conveying device 2, the first carrying device 11 and the first tightening system 8 can be controlled in a combined manner to sequentially complete the conveying feeding and carrying of the valve body 100 or the hydraulic components 200, and the fixed installation of the valve body 100 and the valve body positioning tool 700.

Further, on the basis of having the first vision system 13, the valve body feeding control unit may be further configured to:

controlling the moving turret so that the turret 103 moves to the visual recognition position;

the rotary table 103 is controlled to rotate, so that each valve body assembly surface of the valve body 100 is driven to rotate to the opposite surface of the first vision system 13, and the first vision system 13 is controlled to recognize the installation point position information on each valve body assembly surface.

Therefore, after the valve body 100 and the valve body positioning tool 700 are fixedly installed, the first vision system 13 can further collect the information of the installation points on the assembly surface of each valve body of the valve body 100, so as to more accurately determine the installation positions of each element, and further control the corresponding tightening device to perform corresponding position fine adjustment, thereby accurately and reliably completing the screw plug positioning tightening, the bolt tightening and the like.

To achieve blanking control, in connection with fig. 6, the control system 17 may include a hydraulic valve block assembly blanking control unit configured to:

After the valve body 100 is assembled to form a hydraulic valve block assembly, controlling the movable turntable so that the turntable 103 moves to a fixed position;

Controlling the first tightening system 8 so that the valve body positioning tool 700 is disconnected from the hydraulic valve block assembly;

the first carrying device 11 is controlled to grasp the hydraulic valve block assembly and carry the hydraulic valve block assembly to the hydraulic valve block blanking conveying device 5;

the cantilever lifting device 16 is controlled to lift the hydraulic valve block assembly off line.

Obviously, after the hydraulic valve block assembly is assembled, through the hydraulic valve block assembly blanking control unit, the control valve block assembly platform 1, the first screwing system 8, the first carrying device 11, the hydraulic valve block blanking conveying device 5 and the cantilever lifting device 16 can be combined, so that the blanking automation after the assembly is completed is realized.

To enable process control of the plug assembly, the control system 17 may include a plug assembly control unit configured to:

Driving a screw plug feeding conveying device 4 to control the screw plug 400 to feed;

the control robot tightening system 10 sucks the plug 400, moves to the plug installation position of the valve body 100, and installs and tightens.

Further, on the basis that the automated assembly apparatus comprises a first socket quick change device 6 for changing a socket on a tightening shaft of the robotic tightening system 10, the plug assembly control unit may be further configured to:

Before sucking the plug 400, according to the specification of the plug 400, controlling the first sleeve quick-change device 6 to push out a sleeve matched with the specification of the plug 400;

the robotic tightening system 10 is controlled to suck and replace the sleeve on the first sleeve quick change device 6.

Therefore, the screw plug assembly control unit not only realizes the whole process control from feeding, grabbing and carrying to screwing of the screw plug, but also can be suitable for different specifications and sizes of the screw plug, and selects the screwing sleeve with corresponding specification, thereby realizing the fixed-torque screwing of the screw plug stably and reliably.

Likewise, the control system 17 may also include a pipe joint assembly control unit configured to:

Driving the joint conveying device 3 to control the feeding of the pipe joint 300;

Controlling the second handling device 12 to mount the pipe joint 300 to the second tightening system 9;

the second tightening system 9 is controlled to move to the pipe joint installation position of the valve body 100 and install and tighten the pipe joint 300.

It can be seen that the coupling assembly control unit in combination controls the coupling transporting device 3, the second handling device 12, the second tightening system 9 to complete the installation tightening of the coupling 300. However, the pipe joint 300 generally focuses on the sealing performance after tightening, and thus, it is necessary to perform pre-injection to secure the installation and ensure good sealing performance.

Thus, when the automated assembly equipment includes the glue injection system 15, the second vision system 14, the pipe joint assembly control unit may be further configured to:

controlling the second carrying device 12 to move the fed pipe joint 300 to the glue injection system 15;

the glue injection system 15 is controlled to glue the pipe joint 300;

controlling the second handling device 12 to move the glued pipe joint 300 to the second vision system 14;

The second vision system 14 is controlled to evaluate the gluing state and the sealing state of the pipe joint 300, and when the second vision system is judged to be qualified, the second carrying device 12 is controlled to install the glued pipe joint 300 on the second tightening system 9, and when the second vision system is judged to be unqualified, the second carrying device 12 is controlled to return to the glue injection system 15 and glue again.

Similarly, for different gauges of pipe joints 300, the bushings on the tightening shafts of the second tightening system 9 need to be gauge matched. Thus, on the basis that the automated assembly apparatus comprises a second sleeve quick change device 7 for changing a sleeve on a tightening shaft of the second tightening system 9, the pipe joint assembly control unit may be further configured to:

before the pipe joint 300 is moved to the glue injection system 15, according to the specification of the fed pipe joint 300, controlling the second sleeve quick-changing device 7 to push out a sleeve matched with the specification of the pipe joint 300;

The second tightening system 9 is controlled to replace the sleeve on the second sleeve quick change device 7.

In addition, the hydraulic components 200 are similar to the loading process of the valve body 100. The control system 17 includes a hydraulic component feeding control unit configured to:

Controlling the hydraulic valve block feeding and conveying device 2 to convey the hydraulic components 200;

Controlling the first carrying device 11 to grasp the hydraulic component 200 and carry the hydraulic component to the first vision system 13;

controlling the first vision system 13 to record and judge the state of the sealing ring of the hydraulic component 200;

when the sealing ring is qualified, the first carrying device 11 is controlled to grasp the hydraulic component 200 and move to the hydraulic component mounting position of the valve body 100;

The robotic tightening system 10 is controlled to install and tighten the hydraulic components 200.

In summary, in the automatic assembly device shown in fig. 6, through the spatial layout of compact functional components and the combination of the servo motor setting for realizing movement, rotation, etc., each assembly step or each sub-assembly process can be controlled independently by each sub-control unit of the control system 17, and the whole assembly process can be completed in an integrated manner.

Further, those skilled in the art will appreciate that the hydraulic valve block assembly and its assembly components may be numbered, organized, and automatically identified at the production facility. Therefore, during feeding, the assembling parts with specific specifications can be identified through the robot, feeding is accurately performed, the assembling process is smoothly completed on the valve assembly platform, and the hydraulic valve block assembly is automatically fed, even automatically regulated and transported to leave a factory.

It should be noted that, in the embodiment of the present application, one of the keys for realizing automatic assembly is to ensure that each component is accurately positioned in each process, including transportation, carrying, screwing, and the like. Misalignment of either link will result in a final inability to complete accurate automated assembly.

Therefore, in the process of carrying and fixing the valve body 100, in order to improve the positioning accuracy identification of the valve body, firstly, in the positioning mode, the feeding profiling groove 253 is arranged on the feeding tray 25 to partially accommodate and fix the valve body 100, so that the valve body can be placed in the feeding profiling groove to perform initial positioning of the valve body, then, limiting blocks are arranged at four corners of the top surface of the tool body of the valve body positioning tool 700, the embedded size of the area surrounded by the limiting blocks is consistent with the size of the bottom surface of the valve body 100, so that the valve body 100 is subjected to secondary positioning, and during operation, the first carrying device 11 absorbs the valve body to be placed in the limiting area of the limiting blocks, so as to realize the rough positioning of the hydraulic valve block. Finally, the hole position deviation of the valve body assembly surface is accurately identified by visual photographing of the first visual system 13.

Specifically, the standard valve body can be fixed on the valve body positioning tool 700, then the rotary table 103 is rotated to ensure that the shot surface of the standard valve body is parallel to the shot surface of the first vision system 13, the shot surface of the first vision system 13 is taken as a reference surface, the zero point position of the shot view frame is taken as the origin of a plane space coordinate system, the assembly surfaces of the valve bodies are shot, the coordinate positions of the holes on the assembly surfaces are established, and the coordinate positions are stored as basic data of the standard valve body to the control system 17.

After the valve body 100 to be assembled is fixed on the valve body positioning tool 700, the rotary table 103 ensures that the shot surface of the valve body to be assembled is parallel to the shot surface of the first vision system 13, the shot surface of the first vision system 13 is taken as a reference surface, the zero point position of a shot view frame is taken as the origin of a plane space coordinate system, the assembly surfaces of the valve bodies are shot, the coordinate positions of all the hole positions on the assembly surfaces of the valve bodies are established, and the coordinate positions are stored as basic data of the valve bodies to be assembled to the control system 17. Furthermore, the control system 17 compares and calculates the position of the hole site coordinates of the valve body to be assembled with the position of the hole site coordinates of the standard valve body as a reference size, thereby obtaining the deviation of the hole site of the valve body to be assembled.

One of the sources of valve body hole site deviation is that there is no relative tolerance between valve body hole sites, the poor hole site repeatability results in when processing, secondly there is no locating hole on the valve body, and the locating hole is connected with the valve body locating tool 700 through a threaded hole, and deviation exists between the threaded hole and the thread.

In order to improve the assembly accuracy of the hydraulic component 200, it is necessary to perform hole position accuracy recognition of the hydraulic component 200. In the positioning manner, similar to the valve body, an imitation groove is provided on the feeding tray 25 for initial positioning, and then the deviation of the mounting surface hole position of the hydraulic component 200 is accurately identified by visual photographing of the first visual system 13.

Similarly, an imitation groove is formed in the feeding tray 25, the four sides of the imitation groove are slightly larger than the outline of the hydraulic component, the hydraulic component 200 is placed in the imitation groove, and initial positioning of the hydraulic component is achieved.

Regarding the mounting surface hole position deviation recognition of the hydraulic component 200, the hole position calibration of the standard hydraulic component is first performed. The first carrying device 11 holds the hydraulic component 200 from the tray, moves the hydraulic component 200 to a state where the photographed surface of the hydraulic component 200 is parallel to the photographed surface of the first vision system 13, takes the photographed surface of the first vision system 13 as a reference surface, takes the zero point position of the photographed view frame as the origin of the plane space coordinate system, photographs the mounting surface of the hydraulic component, establishes the coordinate positions of the holes on the mounting surface, and stores the coordinate positions as basic data of the standard hydraulic component in the control system 17.

And then performing hole position deviation calculation of the hydraulic component 200 to be assembled. Similarly, the first carrying device 11 clamps the hydraulic components 200 to be assembled from the tray, moves the photographed surface of the hydraulic components 200 to be parallel to the photographed surface of the first vision system 13, takes the photographed surface of the first vision system 13 as a reference surface and takes the zero point position of the photographed view frame as the origin of the plane space coordinate system, photographs the mounting surface of the hydraulic components 200, establishes the coordinate positions of all the hole sites on the mounting surface, and stores the coordinate positions as basic data of the hydraulic components 200 to be assembled in the control system 17. The control system 17 compares and calculates the position of the hole site coordinates of the hydraulic component 200 to be assembled with the position of the hole site coordinates of the standard hydraulic component as a reference size, thereby obtaining the deviation of the hole site of the hydraulic component 200 to be assembled.

After obtaining the hole position deviation data, the control system 17 comprehensively calculates the coordinate size deviation of the hydraulic component 200 to be assembled on the valve body to be assembled according to the hole position deviation of the valve body 100 to be assembled and the hole position deviation of the hydraulic component 200 to be assembled, and after the robot tightening system 10 receives the coordinate size deviation, the coordinate point position of the movement of the robot is corrected, so that the mounting hole of the hydraulic component 200 is smoothly aligned with the mounting hole of the valve body 100.

In summary, the automatic assembly equipment of the hydraulic valve block assembly is full-automatic assembly equipment, can realize the assembly of a hydraulic valve block by one-key starting without manual intervention in the assembly process, is compatible with the automatic assembly of various types of hydraulic valve blocks, can realize the automatic matching of one-key selection and the automatic switching of an assembly program and a positioning tool, adopts a centralized assembly structure, takes a workbench as a center, and distributes a material conveying module, a material carrying module, a glue injection system, a vision module and an assembly tightening module around the workbench to form a single-station centralized assembly unit, has compact layout and effectively reduces the occupied area of the equipment and the number of the tool change. On the basis, automatic feeding and centralized assembly are realized, and the assembly efficiency is effectively improved by 40%. Moreover, the equipment integration realizes the assembly processes of automatic valve body clamping, visual mistake proofing, part robot assembly, automatic thread gluing and automatic tightening. The assembly process route is also adjusted, the assembly process route is adjusted according to the sequence of mounting surfaces in the prior process of assembly by people, namely, the assembly of the next surface is adjusted to the assembly of the parts with the same specification and the assembly of the next part in the process of completing the assembly by the single surface of the valve block, so that the parts are conveniently taken, the material taking distinguishing time is shortened, an automatic assembly technology based on flexible NC positioning is adopted, a hole site space coordinate system is established by taking the hydraulic valve block as a rotation center, the precise positioning and screwing of different parts on each valve body are realized through flexible displacement seamless butt joint of a robot and a servo system, and further, the technology of a robot vision integration locating algorithm can be adopted, namely, the image characteristics of the outline and the hole site of the valve body are extracted, the hole site deviation is calculated through mathematical operation and is automatically corrected, and the precise positioning and the assembly of the hydraulic valve are realized.

In a word, the automatic assembly equipment of the hydraulic valve block assembly does not need manual intervention in the whole assembly process, so that the assembly processes of automatic valve body clamping, process vision error prevention, part robot assembly, automatic thread gluing and automatic screwing are realized, unmanned operation in the whole assembly process is realized, and the consistency of gluing positions and gluing amounts is ensured by adopting an automatic glue injection system. Visual detection is adopted in process error prevention, and zero defect of assembly quality is achieved. The robot is automatically screwed, 100% fixed-torque screwing of threads is realized, and data can be traced and managed.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or communicable with each other, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interactive relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. An automated assembly device for a hydraulic valve block assembly, the automated assembly device comprising:

The valve group assembly platform (1) is provided with fixed positions for fixing the valve body (100) and assembly positions for assembling other assembly components on the valve body (100) at intervals, the valve group assembly platform (1) comprises a fixed platform (101) and a movable rotary table, the fixed platform (101) comprises a horizontal reference surface serving as the top surface of the fixed platform (101), the horizontal reference surface is provided with the assembly positions and the fixed positions which are sequentially arranged at intervals along a first platform direction, the movable rotary table comprises a movable sliding plate (102) arranged on the horizontal reference surface in a sliding manner along the first platform direction and a rotary table (103) arranged on the movable sliding plate (102), and the movable sliding plate (102) can carry the rotary table (103) to reciprocate between the assembly positions and the fixed positions;

An assembly tightening module for tightening the assembly parts on the valve block assembly platform (1) to assemble the hydraulic valve block assembly, and

The control system (17) is used for cooperatively controlling the valve group assembly platform (1), the material conveying module, the material carrying module and the assembly screwing module so as to complete the automatic assembly of the hydraulic valve block assembly;

The valve body (100) to be assembled can be clamped and fixed on the rotary table (103) at the fixed position, and the rotary table (103) can drive the valve body (100) to rotate so as to switch and display the valve body assembly surface.

2. The automated assembly equipment of a hydraulic valve block assembly according to claim 1, characterized in that the valve block assembly platform (1) comprises:

the tool quick-change mechanism (105) is arranged at a tool storage position and is used for storing and switching various valve body positioning tools (700) for correspondingly installing valve bodies (100) with different specifications, and the valve body positioning tools (700) can be clamped and fixed on the rotary table (103) at the fixed position;

the assembly bits, the fixing bits and the tool storage bits are sequentially arranged at intervals along the direction of the first platform.

3. The automated assembly equipment of a hydraulic valve block assembly of claim 2, wherein the material handling module comprises a first handling device (11), the control system (17) comprising a valve body positioning tooling change control unit configured to:

driving the moving slide plate (102) to move to the fixed position along the first platform direction;

Removing the original valve body positioning tool (700) on the rotary table (103) at the fixed position and moving away through the first carrying device (11);

According to the specification of a valve body (100) of the valve bank to be assembled, controlling the tool quick-change mechanism (105) to switch out the corresponding valve body positioning tool (700);

and carrying the corresponding valve body positioning tool (700) to the fixed position through the first carrying device (11) and clamping and fixing the valve body positioning tool on the rotary table (103).

4. The automated assembly equipment of a hydraulic valve block assembly according to claim 2, characterized in that the material handling module comprises a hydraulic valve block feed conveyor device (2), the material handling module comprises a first handling device (11), the assembly tightening module comprises a first tightening system (8), the first tightening system (8) is arranged directly below the fixed position of the horizontal reference plane and is used for tightening the valve body positioning fixture (700) and the valve body (100);

and, control system (17) includes valve body material loading control unit, is configured as:

Controlling the hydraulic valve block feeding and conveying device (2) to convey the valve body (100);

Controlling the movable rotary table to enable the rotary table (103) to move to the fixed position, wherein the valve body positioning tool (700) corresponding to the specification of the valve body (100) is installed on the rotary table (103);

controlling the first carrying device (11) to grasp the valve body (100) and carry the valve body to the valve body positioning tool (700) of the rotary table (103);

and controlling the first tightening system (8) to tightly connect the valve body positioning tool (700) with the valve body (100).

5. The automated assembly device of a hydraulic valve block assembly according to claim 4, wherein a visual identification position is further provided on a horizontal reference surface of the fixed platform (101), the automated assembly device further comprising a first vision system (13) provided at the visual identification position;

wherein, valve body material loading control unit still is configured as:

controlling the moving turret such that the turret (103) moves to the visual recognition position;

The rotary table (103) is controlled to rotate, each valve body assembly surface of the valve body (100) is driven to rotate to the opposite surface of the first vision system (13) respectively, and the first vision system (13) is controlled to recognize the installation point position information on each valve body assembly surface.

6. The automated assembly equipment of a hydraulic valve block assembly according to claim 4, wherein the hydraulic valve block feed conveyor (2) comprises:

The feeding roller way line (22) and the return roller way line (21) extend along a first conveying direction and are arranged side by side along a second roller way direction, the conveying direction of the feeding roller way line (22) is opposite to the conveying direction of the return roller way line (21), and the first conveying direction is perpendicular to the second roller way direction;

A first translation platform (23) and a second translation platform (24) which are respectively arranged at two ends of the feeding roller line (22) and the return roller line (21) along the first conveying direction, wherein the first translation platform (23) is used for carrying out reciprocating translation conveying between the conveying head end of the feeding roller line (22) and the conveying tail end of the return roller line (21), the second translation platform (24) is used for carrying out reciprocating translation conveying between the conveying tail end of the feeding roller line (22) and the conveying head end of the return roller line (21), and

And the feeding tray (25) is used for loading the valve body (100) and the hydraulic components (200) and can sequentially move along the feeding roller line (22), the second translation platform (24), the return roller line (21) and the first translation platform (23) in a closed loop manner.

7. The automatic assembly equipment of the hydraulic valve block assembly according to claim 6, wherein the valve body positioning tool (700) comprises a tool body, a limiting part (701) for positioning the bottom surface of the valve body (100) is arranged on the top surface of the tool body, and a locking groove (704) is formed on the side surface of the tool body;

and, the material loading tray (25) includes:

a flat feeding substrate (251), and

The feeding positioning plate (252) is positioned and installed on the top surface of the feeding substrate (251), and the feeding profiling groove (253) for positioning the valve body (100) and the hydraulic component (200) is arranged on the feeding positioning plate (252).

8. The automated assembly device of any one of claims 4-7, wherein the material delivery module comprises a hydraulic valve block blanking delivery device (5) and a cantilever lifting device (16), and the control system (17) comprises a hydraulic valve block assembly blanking control unit configured to:

After the valve body (100) is assembled to form a hydraulic valve block assembly, the movable rotary table is controlled so that the rotary table (103) moves to the fixed position;

controlling the first tightening system (8) such that the valve body positioning tooling (700) is disconnected from the hydraulic valve block assembly;

The first carrying device (11) is controlled to grasp the hydraulic valve block assembly and carry the hydraulic valve block assembly to the hydraulic valve block blanking conveying device (5);

and controlling the cantilever hoisting equipment (16) to hoist the hydraulic valve block assembly to be offline.

9. The automated assembly equipment of a hydraulic valve block assembly according to claim 8, wherein the hydraulic valve block blanking conveying device (5) comprises:

a blanking tray (51);

The upper layer roller way line (52) and the lower layer roller way line (53) are arranged at intervals up and down and are used for conveying the blanking tray (51), one side of the conveying head end of the upper layer roller way line (52) is provided with a second feeding position (56), and one side of the conveying tail end is provided with a second blanking position (57);

A head-end lifting and translating platform (54) arranged at the second loading position (56) and capable of lifting and moving to transfer the blanking tray (51) from the conveying end of the lower layer roller line (53) to the conveying head end of the upper layer roller line (52), and

And the tail end jacking translation platform (55) is arranged at the second discharging position (57) and can be lifted and moved to convey the discharging tray (51) from the conveying tail end of the upper layer roller way line (52) to the conveying head end of the lower layer roller way line (53).

10. The automated assembly equipment of a hydraulic valve block assembly according to claim 9, wherein the hydraulic valve block blanking conveyor (5) is arranged parallel to the hydraulic valve block feeding conveyor (2) and is arranged adjacent to a feeding roller way line (22) of the hydraulic valve block feeding conveyor (2).

11. The automated assembly equipment of a hydraulic valve block assembly according to claim 5 or 6, characterized in that the material delivery module comprises a screw-on feeding conveyor (4), the assembly tightening module comprises a robotic tightening system (10) with a magnetic suction structure, the control system (17) comprises a screw-on assembly control unit configured to:

driving the screw plug feeding conveying device (4) to control the screw plug (400) to feed;

Controlling the robot tightening system (10) to absorb the plug (400), moving to a plug installation position of the valve body (100) and installing and tightening.

12. The automated assembly equipment of a hydraulic valve block assembly according to claim 11, wherein the plug loading conveyor (4) comprises a plurality of plug conveying units (40) adapted to convey plugs (400) of different specifications, the plug conveying units (40) comprising a magazine (41), a vibratory tray (42) and a discharge chute (43) arranged in sequence along the conveying direction of the plugs (400), the plugs (400) being piped from the magazine (41) to the vibratory tray (42), a discharge rail (45) being arranged between the vibratory tray (42) and the discharge chute (43) for moving the plugs (400) to the discharge chute (43) in a prescribed orientation.

13. The automated assembly device of a hydraulic valve block assembly according to claim 11, characterized in that it comprises a first sleeve quick-change means (6) for changing the sleeve on the tightening shaft of the robotic tightening system (10);

Wherein the plug assembly control unit is further configured to:

Before the plug (400) is sucked, according to the specification of the plug (400) for feeding, the first sleeve quick-change device (6) is controlled to push out the sleeve matched with the specification of the plug (400);

-controlling the robotic tightening system (10) to suck and replace the sleeve on the first sleeve quick-change device (6).

14. The automated assembly equipment of a hydraulic valve block assembly according to claim 13, wherein the material handling module comprises a joint handling device (3), the material handling module comprises a second handling device (12), the assembly tightening module comprises a second tightening system (9), and the control system (17) comprises a joint assembly control unit configured to:

Driving the joint conveying device (3) to control the feeding of the pipe joint (300);

-controlling the second handling device (12) to mount the pipe joint (300) to the second tightening system (9);

controlling the second tightening system (9) to move to a pipe joint installation position of the valve body (100) and installing and tightening the pipe joint (300).

15. The automated assembly equipment of a hydraulic valve block assembly of claim 14, wherein the automated assembly equipment comprises an injection molding system (15) and a second vision system (14), the pipe joint assembly control unit further configured to:

Controlling the second carrying device (12) to move the pipe joint (300) to the position of the glue injection system (15);

Controlling the glue injection system (15) to glue the pipe joint (300);

Controlling the second handling device (12) to move the glued pipe joint (300) to the second vision system (14);

And controlling the second vision system (14) to evaluate the gluing state and the sealing state of the pipe joint (300), controlling the second carrying device (12) to install the glued pipe joint (300) on the second tightening system (9) when the second vision system is qualified, and controlling the second carrying device (12) to return to the glue injection system (15) and re-glue when the second vision system is unqualified.

16. The automated assembly device of a hydraulic valve block assembly according to claim 15, further comprising a second sleeve quick change means (7) for changing a sleeve on a tightening shaft of the second tightening system (9), and wherein the pipe joint assembly control unit is further configured to:

before the pipe joint (300) is moved to the glue injection system (15), according to the specification of the fed pipe joint (300), controlling the second sleeve quick-changing device (7) to push out the sleeve matched with the specification of the pipe joint (300);

-controlling the second tightening system (9) to replace the sleeve on the second sleeve quick-change device (7).

17. The automated assembly equipment of a hydraulic valve block assembly according to claim 16, characterized in that the first sleeve quick-change device (6) and the second sleeve quick-change device (7) are identical in structure and each comprise:

The quick-change bracket (61) comprises a first placing bracket (611) and a second placing bracket (612) which are arranged at intervals, wherein the first placing bracket (611) can be far away from or close to the second placing bracket (612), a plurality of component placement holes (613) penetrating through the first placing bracket (611) and the second placing bracket (612) are formed in the quick-change bracket (61), and

The plurality of tightening assemblies (90) are placed in the assembly placement holes (613) in a one-to-one correspondence manner, the tightening assemblies (90) comprise quick-change heads (92) clamped between the first placement support (611) and the second placement support (612) and tightening members (91) clamped on the second placement support (612), and the quick-change heads (92) comprise torque connection ends (922) provided with torque connection holes (921) and transmission connection ends (923) in transmission connection with the tightening members (91);

The outer peripheral wall of the quick-change head (92) is provided with a connecting locking piece (924), the first placing support (611) is far away from each other relative to the second placing support (612), the connecting locking piece (924) is partially inserted into the torque connecting hole (921) to lock torque connection, the first placing support (611) is close to each other relative to the second placing support (612), and the connecting locking piece (924) is separated from the torque connecting hole (921) to open torque connection.

18. The automated assembly equipment of claim 17, wherein the drive connection end (923) of the quick-change head (92) is coaxially extended with a connection shaft (927), the tightening assembly (90) further comprising:

a gear shaft assembly (94) including a driving shaft (941) provided with a driving gear and a driven shaft (942) provided with a driven gear;

a connecting sleeve (95), one end of which is sleeved with the connecting shaft (927), and the other end of which is coaxially sleeved with the driving shaft (941);

Wherein the driving shaft (941) and the driven shaft (942) are arranged side by side in the radial direction, and the tightening member (91) is mounted to the outer end portion of the driven shaft (942).

19. The automated assembly equipment of a hydraulic valve block assembly according to claim 14, wherein the joint transportation device (3) comprises:

The lower-layer wire body (32) and the upper-layer wire body (31) are arranged at intervals up and down and are all arranged along the joint conveying direction, and in the joint conveying direction, the conveying head end of the lower-layer wire body (32) is opposite to the conveying head end of the upper-layer wire body (31) and the conveying tail end of the lower-layer wire body (32) is opposite to the conveying tail end of the upper-layer wire body (31) and is respectively and outwards prolonged by a set distance to be respectively in a step shape.

20. The automated assembly equipment of a hydraulic valve block assembly according to claim 11, wherein the control system (17) comprises a hydraulic component feed control unit configured to:

controlling the hydraulic valve block feeding and conveying device (2) to convey the hydraulic components (200);

controlling the moving turret so that the turret (103) moves to a visual recognition position;

Controlling the first carrying device (11) to grasp the hydraulic components (200) and carry the hydraulic components to a first vision system (13);

Controlling the first vision system (13) to record and judge the state of a sealing ring of the hydraulic component (200);

When the sealing ring is qualified, controlling the first carrying device (11) to grasp the hydraulic component (200) and move to a hydraulic component mounting position of the valve body (100);

-controlling the robotic tightening system (10) to install and tighten the hydraulic components (200).

21. The automatic assembly equipment of the hydraulic valve block assembly according to claim 2, wherein the material conveying module comprises a hydraulic valve block feeding conveying device (2), a hydraulic valve block discharging conveying device (5), a cantilever hoisting device (16), a screw plug feeding conveying device (4) and a joint conveying device (3), the material conveying module comprises a first conveying device (11) and a second conveying device (12), and the assembly tightening module comprises a first tightening system (8), a second tightening system (9) and a robot tightening system (10);

The first conveying device (11), the hydraulic valve block feeding and conveying device (2), the hydraulic valve block discharging and conveying device (5) and the cantilever lifting device (16) are arranged on the outer side of the tool storage position of the valve block assembly platform (1), the screw block feeding and conveying device (4) and the joint conveying device (3) are arranged on two sides of the assembly position of the valve block assembly platform (1) in a separated mode, the second tightening system (9) is arranged on the outer side of the fixed position of the valve block assembly platform (1), the first tightening system (8) is arranged under the fixed position of the horizontal reference surface, the second conveying device (12) is arranged between the joint conveying device (3) and the second tightening system (9), and the robot tightening system (10) is arranged between the screw block feeding and conveying device (4) and the assembly position of the valve block assembly platform (1).

22. An automatic assembly method of a hydraulic valve block assembly, characterized in that the automatic assembly method adopts the automatic assembly equipment of the hydraulic valve block assembly according to any one of claims 1-21 to assemble the hydraulic valve block assembly, and the assembly is sequentially carried out according to the type sequence of the assembly parts in the assembly process.

23. The automated assembly method of a hydraulic valve block assembly of claim 22, wherein the automated assembly method comprises:

Firstly, fixing a valve body (100) on assembly positions of the valve group assembly platform (1);

Then a plurality of plugs (400) are respectively screwed and installed on the valve body assembly surfaces of the valve body (100);

A plurality of pipe joints (300) are respectively screwed and installed on the valve body assembly surfaces of the valve body (100);

finally, the hydraulic components (200) are screwed and mounted on the corresponding valve body assembly surface of the valve body (100).

24. The automated assembly method of a hydraulic valve block assembly of claim 23, wherein the step of first securing the valve body (100) to the assembly fixture of the valve block assembly platform (1) further comprises:

Firstly, fixing a standard valve body on a fixed position of a valve assembly platform (1), and acquiring and storing the coordinate positions of all hole sites on all valve body assembly surfaces of the standard valve body in a visual photographing mode by using a first visual system (13);

then the valve body (100) to be assembled is fixed on the fixed position of the valve assembly platform (1), and the first vision system (13) is utilized to obtain the actual coordinate positions of all hole sites on all valve body assembly surfaces of the valve body (100) to be assembled in a visual photographing mode;

And comparing the coordinate positions of all the hole sites of the standard valve body with the actual coordinate positions of all the hole sites of the valve body (100) to be assembled by taking the coordinate positions of all the hole sites of the standard valve body as reference dimensions, thereby obtaining the deviation of all the hole sites on the valve body (100) to be assembled.

25. The automated assembly method of a hydraulic valve block assembly of claim 23, wherein the step of final screw-mounting of the hydraulic components (200) to the respective valve body mounting faces of the valve body (100) further comprises:

Moving a standard hydraulic component by using a first carrying device (11) so that a photographed surface of the standard hydraulic component is parallel to a photographing surface of a first vision system (13), and obtaining and storing the coordinate positions of all hole sites on all mounting surfaces of the standard hydraulic component in a visual photographing mode by using the first vision system (13);

Then, the hydraulic component (200) to be assembled is moved to the state that the shot surface is parallel to the shooting surface of the first vision system (13), and the first vision system (13) is utilized to obtain the actual coordinate positions of all hole sites on all installation surfaces of the hydraulic component (200) to be assembled in a visual shooting mode;

And comparing the coordinate positions of all the hole sites of the standard hydraulic components with the actual coordinate positions of all the hole sites of the hydraulic components (200) to be assembled by taking the coordinate positions of all the hole sites of the standard hydraulic components as reference dimensions, thereby obtaining all the hole site deviations on the hydraulic components (200) to be assembled.